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Thank you Allen, you're right I didn't flash the firmware. But the roswiki ( http://www.ros.org/wiki/nxt_lejos_lcp_proxy ) states that:

"LCP is the protocol used by the standard LEGO Mindstorms firmware, so this package(nxt_lejos_lcp_proxy) should also work with NXT robots running the standard firmware."

Therefore the fact that I didn't flash the firmware shouldn't cause any problem.

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