Quick start

From a NAO6 running HULKs-OS 9.0.1 to nao-rs on its own drivers, checked with naoctl.

This page takes a NAO6 that already runs HULKs-OS 9.0.1 to nao-rs. If your robot still runs NAOqi, flash HULKs-OS first: Install, flash and rollback shows how.

Before you start

Put the robot down sitting or lying, with room around it. nao-rs doesn't command the motors yet, so every joint goes limp when it takes over. A standing robot falls.

What you need

A NAO6 on HULKs-OS 9.0.1, reachable over Ethernet or Wi-Fi, with the default nao user (password nao).
A checkout of the nao-rs repository (github.com/luka-loehr/nao-rs, branch main) with the nao-rs drivers linked into it as ./drivers, and Rust installed. The drivers are not public yet, and prebuilt bundles are planned; today you build the bundle yourself.
An x86_64 Linux machine with Docker for the robot build. The build runs in HULKs' NAO SDK container (ghcr.io/hulks/naosdk:9.0.1).

Install

Build the robot bundle

In the nao-rs checkout, with <host> being your Linux build machine (an SSH host name):

cargo nao-rs robot build --host <host>

This copies the sources to <host>, builds hulk, nao-rs-guard and naoctl for the robot and fetches dist/nao-rs-robot.tar.gz.

Install it on the robot

cargo nao-rs robot install <robot-address>

The bundle is streamed to the robot over SSH and the installer on the robot takes over: it keeps the running installation, stops and masks HAL, LoLA and HULA, installs the guard and the hulk unit for the nao-rs drivers, and checks for 30 seconds that the runtime is up and beating. If that check fails, it puts the previous installation back by itself. Details in Install, flash and rollback.

Check the death switch

ssh nao@<robot-address>
/home/nao/hulk/bin/naoctl status

A healthy robot prints the switch state and a heartbeat a few milliseconds old, for example:

TRIPPED (Cli) for 12.4 s: all motors off
driver: pid 812, cycle 1033, last beat 3.1 ms ago, last all-off cycle 1033

The switch starts tripped on every new page, so the motors stay off until a person re-arms it. While nao-rs rejects the version 11 motor boards, re-arming changes nothing on the motors; leave it tripped.

Stop it from your computer

From the nao-rs checkout on your computer:

cargo nao-rs stop <robot-address>

This sends the stop datagram to the guard on UDP port 7701. It works even when the runtime is stuck. See Safety model for every other way to stop.

Reach it

After the install, nao-rs owns the wired port: the robot takes an address by DHCP, and also always answers at 172.28.28.28 on a direct cable (give your computer 172.28.28.1/24). See Network.

Interface	Address
REST API	`http://<robot-address>:7702/v1`, token in `~/.config/nao-rs/rest-token` on the robot
Robot API (the brain)	`<robot-address>:7700`
UDP stop	`<robot-address>:7701`

TOKEN=$(ssh nao@<robot-address> cat .config/nao-rs/rest-token)
curl -H "Authorization: Bearer $TOKEN" http://<robot-address>:7702/v1/safety

To talk with the robot, set up the brain with your own ElevenLabs agent:

cargo brain --robot <robot-address>:7700 --agent-id <agent-id>

Go back

cargo nao-rs robot restore <robot-address>

This removes the guard and the nao-rs units, unmasks HAL, LoLA and HULA and starts them again in order.

Quick start

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