Sometimes wicd does seems to hang at that stage for me as well (on an aspire 1).
Usually, it's when I was connected to another network and then switch.
It usually gets fixed with either a reboot or restarting the router... I haven't figured out yet whether it was a router issue, wicd, or the hardware/drivers.
Alternatively, try using VasmCC network configuration tools.
I think I sorted it out like that once, as well.