Taylor Veltrop's ROS Packages. Was actively developed between early 2010 and late 2011. Not much out-of-the-box here for you, but plenty of stuff to adapt for your own projects.

RoBoard drivers and support package for ROS. Good out-of-box. Sensor abstraction easy to extend if your hardware differs.

• PWM and ICS serial servo control based on joint state messages
• I2C and AD Sensor abstraction

For controlling the "Veltrobot" which is based on the Kondo KHR1-HV, RoBoard and various other bit & pieces. Use this as a base for your own home built robot or NAO, but lots of modification will be needed.

• URDF
• Movement system
  • Real-time gyro based balancing
  • Pose based motion scripting
  • Bind twists and other control messages to motion scripts
  • Servo trim calibration
• GUI
  • Adjust servo trim calibration
  • Capturing robot pose for later playback
• Incomplete work for navigation and obstacle avoidance
• NAOqi API bindings, mirroring Veltrobot movement system
• Teleoperation based on Kinect, Wii remotes, PS3 controller

Stuff to enhance teleoperation. If anyone out there still has a VR920 that is useful out-of-box. The treadmill solution is based on hardware hacking, but the principal of how it is integrated could be useful.

• Vuzix VR920 support drivers and ROS abstraction node
• Control a treadmill based on Kinect data, embedded microcontroller code plus ROS node

Stereo vision hacks. Only useful for masochists.

• Ability to use a stereo camera if it's CCD mounting is rotated 90 degrees
• Special messages & node to send "synced" yuyv frames as a single message
• Stuff needed for my esoteric not-fully-compatible UVC devices