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Hi,

Running nodes from a remote computer is different than compile from a virtual nao. To start I would suggest that you try to run your nodes remotely to get used to ROS and nao before doing more com)licated stuff.

the following ERROR: ResourceNotFound: xacro Means that your computer cannot find the ros package xacro : (rospack find xacro) this package should be in the following directory : /opt/ros/hydro/share/xacro. If cou cannot find it : install it using sudo apt-get install ros-hydro-xacro

Compile from a Virtual nao is something totally different. Alderbaran provides a virtual machine that virtualize nao's hardware and OS. This way you can compile nodes to run directly on your nao and not on your computer. On the gentoo virtual machine there is a folder /etc/portage. That kind of folder doesn't exist on a standard ubuntu desktop like the one your using. That's why it says that /etc/portage cannot be found.

Hope this helps,