Installing Nao Ros driver

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We tried to install the brown's university ros driver for the nao according to 
the readme in the package.
We tried to install the driver on the original nao image version 1.10.10 and on 
1.8.16.
On both we had first the problem that the file paths, which are mentioned in 
the readme of the browns package to copy the "libbrowneyes.so", aren't existing 
("/opt/naoqi/modules/lib"), so we copied the library to "/opt/nao/lib".
The next step was to add the library to the "autoload.ini", which should be 
loacated at "/opt/naoqi/modules/lib" but was located at 
"/opt/naoqi/preferences/".
The next step was to copy the "naoros.tar" to the nao and extract it somewhere 
in the home folder and configure the "envConfig" in "~/naoros/run/".
After sourcing the "envConfig" we started the driver by "./eyes" and got these 
error messages:

1.8.16:
 "./eyes: error while loading shared libraries: libiconv.so.2: cannot open shared object file: No such file or directory"

1.10.10:
 "Couldn't get shared memory!"

On both firmwares the "urbistarter" library is commented out in the 
"autoload.ini". Is it required for the driver? On both versions it doesn't make 
a difference if we comment it in.

Does anyone maybe know what we did wrong? Are the nao image versions we used 
not compatible with this driver?

We also tried to flash the firmware 1.6.13 but this one is not compatible with 
the hardware version of our nao robot.

Original issue reported on code.google.com by [email protected] on 17 Mar 2011 at 10:36