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For me, this seems as if you try to connect to the wrong IP. Can you verify that your NAO_IP is set to the correct IP of your robot? when in doubt, start your program like this:

NAO_IP=<ip_of_your_robot> roslaunch nao_bringup nao_full.launch

Then further, please check that naoqi is running successfully on your robot. If not, the bridge can't connect to it. You can check also by opening choregraphe and see if the camera is working fine.