Domain controller for a single domain cannot be contacted

Background:
Single Domain controller that contains 5 FSMO, DNS. Client can still logon but unable to print. ALl client are using XP and have static ip addresses. Recently, try to add another windows 2003 domain controller but can?t join the domain with this message: ?A domain controller for the domain could not be contacted?. The dcdiag.txt has this message:

?The following error occurred when DNS was queried for the service location (SRV) resource record used to locate a domain controller for domain odca:

The error was: "DNS name does not exist."

(error code 0x0000232B RCODE_NAME_ERROR)

Any ideas