rfcomm is the SPP, yes. If you've got embedded linux running, you can probably afford to put in a USB wifi dongle. Then your life is much easier - the protocols are all defined already, and you don't have to worry about low-level communications.
If you must use bluetooth, be aware that it's not the easiest thing to configure - your best bet is to open an rfcomm tunnel between the two bots and pretend it's a serial port.