The error is from previous versions of Houdini where the geometry import could only import from SOPs if the node was static. That's no longer the case, but the error message wasn't removed. Starting with today's daily build of H18.5 that issue should be fixed, so you should be able to use that approach now to cook your SOP network.
As for compiled blocks/invoke, the documentation for the Invoke TOP includes an example:
https://www.sidefx.com/docs/houdini/nodes/top/invoke.html. [
www.sidefx.com] There are examples in the
$HH/help/files/pdg_examples/top_invoke directory, as well as one embedded in that documentation page that you can open from within Houdini itself. There's also a page with more general guidelines on creating compiled blocks here:
https://www.sidefx.com/docs/houdini/model/compile.html. [
www.sidefx.com] The main requirement is that all of your SOP nodes are compileable.