Can you post a picture with nudity in it? No? There you go.
Freedom of speech is freedom from censorship by the government. Even that has restrictions, though. You can't incite violence against other people or cause other people to come to harm through your speech (yelling "Fire!" in a theatre being the canonical example).
You're agreeing to Facebook's Terms of Service when you use their site. You are agreeing not to upload that kind of content when you sign up.
The reason nudity is not allowed is because minors are on Facebook and it would be illegal to do so.