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As SLAMnect wrote, it seems like the NaoQI Python API in version 1.12 also seems to require LD_LIBRARY_PATH set in addition to the PYTHONPATH. But I would suggest against putting the complete directory always in your LD_LIBRARY_PATH in .bashrc. There are many other libraries in this directory and it will mess up your system with conflicting versions of boost for example.

Instead, put

export AL_DIR=$HOME/path/to/naoqi-sdk-1.12-linux32 
export PYTHONPATH=$AL_DIR/lib:$PYTHONPATH

in your .bashrc and either start nao_driver with

LD_LIBRARY_PATH=$AL_DIR/lib roslaunch nao_driver nao_driver.launch

or run

export LD_LIBRARY_PATH=$AL_DIR/lib

only in the terminal where you run nao_driver.