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Probably this is a late answer, but it can be useful for someone else.

I had a similar problem with other package, apparently the reason is that property tags cannot be declared inside of a xacro:macro. And unfortunately, for nao_description package some macros in "visuals.xacro" use "pi" and "pi_2" properties, so when it copies theirs contents in "nao_robot_v4_structure.urdf.xacro" file, this two properties don't appear. One solution is move this two properties:

< xacro:property name="pi" value="3.1415926535897931"/>

< xacro:property name="pi_2" value="1.5707963267948966"/>

to "nao_robot_v4_structure.urdf.xacro" file.