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Thanks for the link DJBase, but I have already seen it and it doesn't relate to the problem.
The problem stems from the fact that Open Firmware starts partition numbering at 0 where as Linux starts at 1. When you complete the DVD install Edgy gives you the following command to boot it:
boot hd:1 boot/vmlinux root=/dev/hda1
A default Ubuntu disk configuration has two partitons root and swap. Open firmware sees the root partition as hd:0 and swap as hd:1, therefore tries to boot from the swap partition and gives the "Filesystem not supported" error.
The correct boot command should be:
boot hd:0 boot/vmlinux root=/dev/hda1
This works for me at least and I hope it helps Acill.