Connect error: 336130315: wrong version number

[xsan055]

Issue Summary

Environment:
Operating System: Ubuntu 20.04 (Physical Machine)
ROS Distribution: Noetic (version 1.17.0)
Naoqi SDK Version: 2.1.4.13
naoqi_driver Package Version: Installed via sudo apt install ros-noetic-naoqi-driver
Robot Model: NAO V5 H25

Steps to Reproduce:
Successfully installed naoqi-sdk 2.1.4.13.
Configured the NAO robot (192.168.1.100) with the following steps:
ssh [email protected]
qicli call ALAutonomousLife.setState disabled
qicli call ALMotion.wakeUp
These commands were all successful.

Launched the naoqi_driver with the following command:
roslaunch naoqi_driver naoqi_driver.launch nao_ip:=192.168.1.100 naoport:=9559 roscore_ip:=http://192.168.1.105:11311/ network_interface:=enp52s0 username:=nao password:=nao

Observed Behavior:
Launching the driver resulted in the following output:
roslaunch naoqi_driver naoqi_driver.launch nao_ip:=192.168.1.100 naoport:=9559 roscore_ip:=http://192.168.1.105:11311/ network_interface:=enp52s0 username:=nao password:=nao
... logging to /home/sang/.ros/log/5f0f483c-a7b0-11ef-a683-85b5a48af8af/roslaunch-sang-Legion-Y9000P-IAH7H-23204.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://sang-Legion-Y9000P-IAH7H:33849/

SUMMARY

PARAMETERS

• /rosdistro: noetic
• /rosversion: 1.17.0

NODES
/
naoqi_driver (naoqi_driver/naoqi_driver_node)

ROS_MASTER_URI=http://localhost:11311

process[naoqi_driver-1]: started with pid [23238]
Connect error: 336130315: wrong version number

REQUIRED process [naoqi_driver-1] has died!
process has finished cleanly
log file: /home/sang/.ros/log/5f0f483c-a7b0-11ef-a683-85b5a48af8af/naoqi_driver-1*.log
Initiating shutdown!

[naoqi_driver-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
The driver process naoqi_driver-1 terminated with the message: Connect error: 336130315: wrong version number.
Expected Behavior:

The naoqi_driver should have successfully connected to the NAO robot and initiated communication.
Analysis:

The error message Connect error: 336130315: wrong version number suggests that there may be an SSL or protocol version mismatch during the communication.
The NAOqi SDK and naoqi_driver should be compatible, as the SDK was successfully installed and example scripts were run without issues.
The ROS Master URI and network configurations were reviewed to be correct.

Request:
Assistance is needed to resolve the SSL version or protocol mismatch during communication between the naoqi_driver and NAO robot.
Any guidance on additional dependencies or configuration adjustments that need to be made for ROS Noetic or Ubuntu 20.04.