AFAIK, no one here has installed roof rails on an S model. It's a bit involved as you need the purchase all the parts seperately then perform the installation. This is not easy as you will have to remove the roof liner to install the bolts that hold the rails on. If you only use the roof rails to carry loads, you can purchase a complete Yakima rack for much less. Here is a copy of my earlier post describing the roof rails:
Quote »Re: Roof Rails.The OEM roof rails are bolted to the body. It 'may' be possible to retrofit a non-roof rail model by drillling the required holes (4 per side) and installing the new roof rail and moldings. It's not cheap. A quick scan of prices revealed the roof rails are $270 each (side) + $70 for the molding. Multiply by 2 to do both sides and you are looking at $680.
There is another option if you just want a simple roof rack to carry gear from time to time. Yakima makes all kinds of great roof rack products. I have done a quick test fit and came up with an option for the Rogue without roof rails. Read more about it in this thread:
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