NAOqi OS - Getting started

NAOqi OS

The Operating System of the robot.

It is a GNU/Linux distribution based on Gentoo.

It’s an embedded GNU/Linux distribution specifically developed to fit the Aldebaran robot needs.

It provides and runs numbers of programs and libraries, among these, all the required one by NAOqi, the piece of software giving life to the robot.

This page presents miscellaneous tips about the NAOqi OS embedded OS.


NAOqi OS - user accounts

The main user is nao, and like any GNU/Linux system, there is the super-user root.

By default, passwords are usernames. So, changing user to root using the su command will request the password root

Logging in as root over ssh is now disabled. However the su command remains available.

We recommend to change the nao‘s password using the web page.

User Password Description
nao nao default account
root root administrator account

Accessing NAO over ssh

To login on your Aldebaran robot, get its IP address pushing its torse button, then connect to your Aldebaran robot over ssh:

Using PuTTy:

/sites/default/files/repository/69_html_nao/_images/ssh_putty.png

in a Linux terminal, run:


$ ssh nao@192.168.1.10

Note

For logins and passwords, see: NAOqi OS - user accounts.

Shell

The default shell is bash with a custom profile.

When logging in as nao, the prompt now looks like:


<robotname> [<last_command_exit_code>] <current_working_directory> $

When logging in as root:


root@<robotname> [<last_command_exit_code>] <current_working_directory> $

Example:

/sites/default/files/repository/69_html_nao/_images/prompt.png

Base commands and programs

Program Description
htop monitor process activity (many options are available use F1)
ldd list library dependencies
gdbserver start a remote gdb server

Sudo and root permissions

sudo is available on NAOqi OS. Its usage is limited for shutting down Aldebaran robot.


$ sudo shutdown -h now

For any others commands requiring root permissions, you will have to use su and authenticate using the root user password.

Text editor

Available text editor: nano.

FTP Access

Step Action

Start a FTP client on the PC side.

We recommend Filezilla.

Fill in the different fields:

A. Host: “BonjourName.local” or IP address of the robot

B. Username: “nao”

C. Password: your nao password

D. Port: 21

/sites/default/files/repository/69_html_nao/_images/filezilla_ftp.png
Click the Quickconnect button.

Firewall - Network access limitation

NAOqi OS comes with a firewall with two predefined modes:

  • development: all ports are open on all network interfaces;
  • production : all ports are closed, except ssh on the ethernet wired link.

By default, the robot is in development mode.

You can switch from one to the other mode by running the following command as root:


/etc/init.d/firewall_mode production

or:


/etc/init.d/firewall_mode development

To check the current mode, run:


/etc/init.d/firewall_mode show

To turn the current mode as the default one (i.e. the mode in which the firewall will start on the next boot), you have to save it running:


/etc/init.d/firewall_mode save

This will save the current firewall mode as the default one.