I faced the same problem on my Xperia X8 androphone, I bought especially to have Ant+ connexion.
The Android Market forbid me to install Ant Radio Service, stating my cell phone was not Ant enabled
I finally solved it using "Android Injector" a free windows app that install package directly *.apk package on your phone in USB debug mode.
The "Ant Radio Service" package can be found on the "thisisant" web site (Android API if I'm correct). And that's all.
Now it works and I can read and record my Garmin HRM and Cadence + Speed sensor on Endomondo
Sportypal Pro I think can also do the same but only for HRM.