How to connect ros on a remote PC with (real)nao robot?

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Hello,friends! I have been working on ROS for about half a month. Now I'm trying to do something with my nao robot. When I was trying to follow the nao_driver page,I have problems understanding "connecting to your Nao (or a simulated Nao in Webots) via Aldebaran's API". What does this mean?

What I want to do is to connect the robot with command lines in the terminal so that I can use rostopic pub to send command to Nao like to a simulated Nao in Webot.

Thanks