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
Logging in as root over ssh is now disabled. However the
su command remains available.
We recommend to change the password using the web page.
The unique user account is nao. By default, the password is also nao, but it is mandatory to modify it at the first settings.
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:
in a Linux terminal, run:
$ ssh email@example.com
For logins and passwords, see: NAOqi OS - user accounts.
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> $
Base commands and programs¶
|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
$ sudo shutdown -r now $ sudo shutdown -h now
No other command requiring root permissions is authorized.
Available text editor:
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
|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:
To check the current mode, run:
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:
This will save the current firewall mode as the default one.