'NoneType' object is not iterable for zed_camera.launch.py

[Mitch-Crest]

Preliminary Checks

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• This issue is not a question, feature request, or anything other than a bug report directly related to this project.

Description

I am running a docker container zed_ros2_l4t_35.4.1_sdk4.2.5 on an NVIDIA Jetson Xavier AGX. This container was built using a modified version of the Dockerfile.l4t-humble file to get around several build issues with the original dockerfile (modified_dockerfile.txt).

I can confirm that the ZED SDK works fine inside this container and have verified this functionality using the ZED_Depth_Viewer tool.

I have used the tag humble-v4.2.5 for the source code with no additional modifications.

The issue I am facing is that launching the zed_camera_launch.py file has the following error and traceback:

error_traceback.txt

Another issue is that I don't seem to have the zed_display_rviz2 package within this container.

Steps to Reproduce

1. Build modified dockerfile with ./jetson_build_dockerfile_from_sdk_and_l4T_version.sh l4t-r35.4.1 zedsdk-4.2.5
2. run image with docker run -it --network=host --privileged --ipc=host --pid=host -e NVIDIA_DRIVER_CAPABILITIES=all -e DISPLAY=$DISPLAY -v /dev:/dev -v /dev/shm:/dev/shm zed_ros2_l4t_35.4.1_sdk_4.2.5:latest bash
3. Attempt launch of camera node with ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i --debug

Expected Result

Successful launch of camera node.

Actual Result

Error with traceback as linked above.

ZED Camera model

ZED2i

Environment

OS: L4T 35.6.1 (35.4.1 inside container)
CPU: ARM
GPU: NVIDIA Jetson Xavier AGX 
ZED SDK version: 4.2.5 
Other Info: ROS Humble, inside docker container.

Anything else?

Build issues were linked to #318 and #314. For #318 I needed to add ament_export_interfaces to cob_srvs and build zed_wrapper and zed_ros2 separately after sourcing install/setup.bash. For #314, I added the packages from source as recommended by #337.

[melihakay]

Hi, adding "composable_node_descriptions=[]" to the following Container definition solved the issue for me. I am using L4T 35.4.1 on AGX Xavier. I have been using #337 and builded with ./jetson_build_dockerfile_from_sdk_and_l4T_version.sh l4t-r35.4.1 zedsdk-5.0.0.

    zed_container = ComposableNodeContainer(
            name=container_name_val,
            namespace=namespace_val,
            package='rclcpp_components',
            executable=container_exec,
            arguments=['--use_multi_threaded_executor','--ros-args', '--log-level', 'info'],
            output='screen',
            composable_node_descriptions=[] # fix to None type error
    )
    return_array.append(zed_container)

[Myzhar]

Thank you for the info.
Checking it