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Do you have details about the Nao laser head you are using? I'm pretty sure that the Hokuyo laser is not connected via ethernet but a serial device over USB (the only one I know with the URG04LX is definitely not network-enabled). So you can't connect to it over network. Instead you need to cross-compile hokuyo_node or urg_node for the Nao and run the driver locally on the robot.

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