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There are two options. First, you can take the computed footstep plan and execute it open-look with the Nao. Check out the nodes nao_walker and nao_footsteps, they will allow you to execute a sequence of footsteps computed by footstep_planner. The robot will then not correct for drift however, and likely not reach the goal correctly.

As another option you can have a look at the footstep_navigation node in the footstep planner (class FootstepNavigation.cpp). It will interleave execution and localization, correct for small errors and start replanning when the derivation is too large. It requires a working pose estimate in the map frame, such as humanoid_localization from range or laser data. You will probably have to understand the code yourself and adjust it to your needs, since I haven't used it for some while.