Reference
The REST API, the MessagePack robot API and the command-line tools.
Robot API
TCP port 7700, MessagePack frames: handshake, heartbeat, every message.
REST API
HTTP/JSON on port 7702: token, leases, every operation, generated from the OpenAPI document.
Command-line tools
naoctl on the robot, nao-rs on your computer.
Ports
| Port | Protocol | Served by | Purpose |
|---|---|---|---|
| 7700 | TCP | hulk | Robot API |
| 7702 | TCP | hulk | REST API (HTTP/JSON, local network only) |
| 7701 | UDP | nao-rs-guard | Death switch stop (NAO-RS STOP) |
| 22 | TCP | HULKs-OS | SSH, user nao |
Files on the robot
| Path | What |
|---|---|
/run/nao-rs/deathswitch | The death switch page |
/home/nao/hulk | The nao-rs installation: bin/hulk, bin/nao-rs-guard, bin/naoctl, etc/ |
/home/nao/hulk.prev | The previous installation, kept for rollback |
/etc/systemd/system/hulk.service | hulk on the nao-rs runtime |
/etc/systemd/system/nao-rs-guard.service | The guard |
/etc/tmpfiles.d/nao-rs.conf | Creates /run/nao-rs at boot |
/etc/systemd/network/50-nao-rs-wired.network | The wired network: DHCP, 172.28.28.28/24, link-local |
~/.config/nao-rs/rest-token (user nao) | The REST API token |
/var/run/alfand/cputemp | Last CPU temperature reading, in thousandths of a degree |
/media/internal/DeviceHeadInternalGeode.xml | Head id and version (read only) |
Logs
Verification and parity
How each part of nao-rs is proven to behave like the software it replaces - differential tests against the original libraries, replays of real recordings, and live checks on the robot.
REST API
The HTTP/JSON API of a robot running nao-rs - port, LAN-only access, token, control leases, errors, streams, and how to try it without a robot.