Launch files broken for Iron

[jmtatsch]

Hi,

I havent used Ros for quite some time so my knowledge may be a bit outdated, but I have trouble to launch the image producer with the provided launch files.

ros2 launch avt_vimba_camera Mako_G-319.launch.xml                                                                                                             
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): Caught exception when trying to load file of format [xml]: Unexpected attribute(s) found in `arg`: {'doc'}

Seems like the doc attribute has gone in the latest ros? But I couldn't find that in the ros docs...
Anyhow, after removing the doc attributes from the mako and the mono launch files, I seem to get further:

[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [mono_camera_exec-1]: process started with pid [2977458]
[mono_camera_exec-1] [INFO] [1697483760.607854395] [camera]: Parameters loaded
[mono_camera_exec-1] [INFO] [1697483760.636080665] [camera]: [Vimba System]: AVT Vimba System initialized successfully
[mono_camera_exec-1] [INFO] [1697483760.636130782] [camera]: Searching for cameras ...
[mono_camera_exec-1] [INFO] [1697483760.790366767] [camera]: Found camera named Alvium:
[mono_camera_exec-1] [INFO] [1697483760.790411354] [camera]:  - Model Name     : Alvium G1-319c
[mono_camera_exec-1] [INFO] [1697483760.790429630] [camera]:  - Camera ID      : DEV_000A47344617
[mono_camera_exec-1] [INFO] [1697483760.790436877] [camera]:  - Serial Number  : 04W3N
[mono_camera_exec-1] [INFO] [1697483760.790443348] [camera]:  - Interface ID   : enp0s31f6
[mono_camera_exec-1] [INFO] [1697483760.790449834] [camera]:  - Interface type : GigE
[mono_camera_exec-1] [INFO] [1697483760.790456495] [camera]:  - Access type    : Read and write access
[mono_camera_exec-1] [INFO] [1697483760.790985028] [camera]: Trying to open camera by ID: DEV_000A47344617
[mono_camera_exec-1] [INFO] [1697483761.269716863] [camera]: Opened connection to camera named Alvium with ID DEV_000A47344617
[mono_camera_exec-1] [WARN] [1697483763.270137553] [camera]: Feature DeviceTemperatureSelector: value unavailable
[mono_camera_exec-1] 	ERROR Invalid value.
[mono_camera_exec-1] [WARN] [1697483763.270242718] [camera]: Could not get feature GevTimestampTickFrequency
[mono_camera_exec-1] [INFO] [1697483763.291395650] [camera]: Ready to receive frames triggered by Software
[mono_camera_exec-1] [WARN] [1697483763.291477917] [camera]: Feature DeviceTemperatureSelector: value unavailable
[mono_camera_exec-1] 	ERROR Invalid value.
[mono_camera_exec-1] [INFO] [1697483763.311448209] [camera]: Configuring camera:
[mono_camera_exec-1] [INFO] [1697483763.318759096] [camera]:  - AcquisitionFrameRateEnable set to 0
[mono_camera_exec-1] [INFO] [1697483763.321025294] [camera]:  - AcquisitionMode set to Continuous
[mono_camera_exec-1] [INFO] [1697483763.321759654] [camera]:  - AcquisitionStatusSelector set to AcquisitionActive
[mono_camera_exec-1] [WARN] [1697483763.322812382] [camera]: Feature ActionDeviceKey is not readable.
[mono_camera_exec-1] [WARN] [1697483763.322828928] [camera]:  - Tried to set ActionDeviceKey to 0 but the camera used 94576465171584 instead
[mono_camera_exec-1] [INFO] [1697483763.324093401] [camera]:  - ActionGroupKey set to 0
[mono_camera_exec-1] [INFO] [1697483763.325345189] [camera]:  - ActionGroupMask set to 0
[mono_camera_exec-1] [INFO] [1697483763.325962466] [camera]:  - ActionSelector set to 0
[mono_camera_exec-1] [INFO] [1697483763.328936558] [camera]:  - AdaptiveNoiseSuppressionFactor set to 1
[mono_camera_exec-1] [INFO] [1697483763.333037060] [camera]:  - AutoModeRegionHeight set to 770
[mono_camera_exec-1] [INFO] [1697483763.337751924] [camera]:  - AutoModeRegionOffsetX set to 0
[mono_camera_exec-1] [INFO] [1697483763.341761388] [camera]:  - AutoModeRegionOffsetY set to 388
[mono_camera_exec-1] [INFO] [1697483763.342158493] [camera]:  - AutoModeRegionSelector set to AutoModeRegion1
[mono_camera_exec-1] [INFO] [1697483763.345729720] [camera]:  - AutoModeRegionWidth set to 2064
[mono_camera_exec-1] terminate called after throwing an instance of 'rclcpp::exceptions::InvalidParameterValueException'
[mono_camera_exec-1]   what():  parameter 'feature/BalanceRatio' could not be set: Parameter {feature/BalanceRatio} doesn't comply with floating point range.
[ERROR] [mono_camera_exec-1]: process has died [pid 2977458, exit code -6, cmd '/opt/ros/iron/lib/avt_vimba_camera/mono_camera_exec --ros-args -r __node:=camera --params-file /tmp/launch_params_yqg2tsdd --params-file /tmp/launch_params_tjnf67y6 --params-file /tmp/launch_params_23wk6zge --params-file /tmp/launch_params_xbachyb4 --params-file /tmp/launch_params_hiin_b0l --params-file /tmp/launch_params_j_bu8keg --params-file /tmp/launch_params_hb9ktkbd --params-file /opt/ros/iron/share/avt_vimba_camera/config/Mako_G-319.yaml'].

But I guess that is a different issue.

[jmtatsch]

Should I make a pull request with the doc attributes removed?

[icolwell-as]

Hi @jmtatsch, we generally ignore the short-term ROS releases (Iron fits this category) and only focus on the ones with LTS.

That being said, the ROS2 xml format description doesn't actually include the doc attribute.
I wonder if ROS2 never actually support doc, but now in Iron they changed the launch xml parser to be more picky about unknown attributes and throw an error. In the past they likely just ignored the unknown attribute.

If that is indeed the case, then I would agree that removing the doc attributes makes sense. It's kind of a shame though, the docs are useful ...

[joshuasrcho]

Confirmed this is also an issue for humble. The solution is to change doc attribute to description. See https://docs.ros.org/en/humble/How-To-Guides/Migrating-from-ROS1/Migrating-Launch-Files.html#arg.