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nao-ros2-setup.rst

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NAO ROS2 Setup

Warning

(Last updated December 2024) NaoImage has no support on Ubuntu 24.04 yet, and these instructions below are untested. Please use Ubuntu 22.04 / ROS 2 Humble for now. The 24.04 port for NaoImage is tracked in this github issue.

The easiest way use ROS 2 on the NAO is to flash an Ubuntu 24.04-based image on the NAO, and use apt to install ROS 2.

Flash RoboCup OPN file

Note

If you have a NAO robot with the robocup-opn image already flashed, skip this step and continue to the Install Ubuntu24.04 on NAO step.

Tip

This step is necessary to prevent motorboard firmware issues, where the robot cannot read/write the joint positions, that may arise if the robot is not flashed with the robocup-opn image before flashing the Ubuntu based image.

Flash the NAO with the robocup-opn file if it is:

  • brand-new
  • returned from manufacturer (that has been reflashed with the default image)
  • not flashed with the robocup-opn file

To flash a NAO with the robocup-opn file, you must:

Create NAOqi USB

  1. Follow the instructions on Manufacturer's Documentation

    Note

    The 2.1 flasher also works with the 2.8 opn. You can also just use dd on linux and mac.

Flash the NAO

To flash the robot, run

  1. Turn off the NAO
  2. Insert the USB stick into the back of the robots head
  3. Press and hold down the chest button on the NAO until it lights up blue
  4. Wait until it says Ognak gnuk! and starts looking around

Install Ubuntu24.04 on NAO

Follow instructions provided by NaoDevils' NaoImage to set up Ubuntu 24.04-based on the NAO.

Install ROS2 on NAO

Follow Installing ROS 2 via Debian Packages, to install ROS2 from debian packages. Do a ROS-Base Install, to prevent downloading unnecessary GUI packages.

Note

In the Install ROS 2 package step, do a ROS-Base Install, rather than a Desktop Install.