Flashing a Nao

Installing the OS

General notes:

• If you are downgrading, you MUST use the factory reset method (the link below). You can use the factory reset method either way, it'll just be slower than the alternative.
• rUNSWift is using the 2.1.3.3 opn.

Go here to flash using the factory reset method:

http://doc.aldebaran.com/2-1/software/naoflasher/naoflasher.html

You will need a usb with the image flashed.

• To setup a usb, you will need to download the opn and also naoflasher from Aldebaran's website.

1. Insert the USB stick into the back of the robots head.
2. Press and hold down the button on the chest of the robot until it lights up blue.
3. Leave until it completes.

This is just a guideline - if this exact behaviour doesn't happen, there may not be anything wrong.

Robot setup

Once the flashing has completed, the robot will stand up and talk - make sure the robot is sitting down and isn't unstable if you are going to start the flashing and then walk away! Pressing the chest button once makes the robot say "Hello, I am Nao. My internet address is XXX.XXX.XXX.XXX" and maybe some other stuff. If it doesn't say an IP address, 169.254.15.76 should work.

Plug into the robot with ethernet, and in a browser go to nao.local/ to finish the setup - the in-browser prompts are fairly self-explanatory, and if any step fails, you can easily skip it. Be sure to rename the nao to whatever name you intend to give it, eg. r2d2.

Initial Code Setup

You should have your codebase set up (if not, go to Getting Started). Now, run the following commands:

1. nao_sync -s <robot>. Enter the password for the robot when asked to, and enter the root password (root) when asked to. Wait for it to restart afterwards.
2. nao_sync -ar <robot>
3. nao_sync <robot>

This will set up ssh keys and load libagent and rUNSWift. You can now run the rUNSWift code via chest button presses or by ssh-ing in.

Verify that the code works - you're done!

Wifi Note:

Syncing with nao_sync -s will replace connman with an init script that sets the wifi details manually. If you are running into problems with this, run these commands to undo it and restart the robot.

```
sudo rc-update del runswiftwireless default
sudo rc-update add connman boot
```

You can then control the wifi through the nao's web interface.

---

Alternative flashing methods

1. rsync the opn file to the robot
2. nao-autoflash file.opn on the robot
3. sudo shutdown -h now on the robot
4. Turn on and update the firmware.
5. NAO V4.0: press and hold the robot Chest button for about 5 seconds until it gets blue.
6. NAO V3.x: press the robot Chest button.
7. Ear LEDs shows the progression

or

1. scp opn file to /var/persistent/.image
2. reboot the robot.
3. wait for echoing beeping sound.
4. reboot the robot.