Node action fails when using node-name key in YAML launch files

[ok-tmhr]

Generated by Generative AI

No response

Operating System:

Linux 22f9ae8fc1e5 5.15.167.4-microsoft-standard-WSL2 #1 SMP Tue Nov 5 00:21:55 UTC 2024 x86_64 x86_64 x86_64 GNU/Linux

ROS version or commit hash:

jazzy

RMW implementation (if applicable):

rmw_fastrtps_cpp

RMW Configuration (if applicable):

No response

Client library (if applicable):

rclcpp

'ros2 doctor --report' output

ros2 doctor --report

   NETWORK CONFIGURATION
inet         : 127.0.0.1
inet4        : ['127.0.0.1']
inet6        : ['::1']
netmask      : 255.0.0.0
device       : lo
flags        : 73<RUNNING,LOOPBACK,UP>
mtu          : 65536
inet         : 172.25.0.2
inet4        : ['172.25.0.2']
ether        : 7e:88:df:fd:c3:e5
netmask      : 255.255.0.0
device       : eth0
flags        : 4163<RUNNING,BROADCAST,UP,MULTICAST>
mtu          : 1500
broadcast    : 172.25.255.255

   PACKAGE VERSIONS
ira_laser_tools                           : latest=N/A, local=2.0.7
nav_msgs                                  : latest=5.3.7, local=5.3.7
ament_cmake_test                          : latest=2.5.6, local=2.5.6
rosidl_dynamic_typesupport_fastrtps       : latest=0.1.0, local=0.1.0
ament_cmake_python                        : latest=2.5.6, local=2.5.6
ament_cmake_export_link_flags             : latest=2.5.6, local=2.5.6
rclcpp                                    : latest=28.1.18, local=28.1.18
ros2multicast                             : latest=0.32.9, local=0.32.9
ros2cli_common_extensions                 : latest=0.3.1, local=0.3.1
rcpputils                                 : latest=2.11.3, local=2.11.3
actionlib_msgs                            : latest=5.3.7, local=5.3.7
launch                                    : latest=3.4.10, local=3.4.10
ros2lifecycle                             : latest=0.32.9, local=0.32.9
ament_cmake_gtest                         : latest=2.5.6, local=2.5.6
diagnostic_msgs                           : latest=5.3.7, local=5.3.7
action_msgs                               : latest=2.0.3, local=2.0.3
ros2cli                                   : latest=0.32.9, local=0.32.9
ros_workspace                             : latest=1.0.3, local=1.0.3
ament_cmake_export_include_directories    : latest=2.5.6, local=2.5.6
ament_cppcheck                            : latest=0.17.5, local=0.17.5
sensor_msgs                               : latest=5.3.7, local=5.3.7
launch_yaml                               : latest=3.4.10, local=3.4.10
rosidl_typesupport_fastrtps_cpp           : latest=3.6.3, local=3.6.3
rosidl_cmake                              : latest=4.6.7, local=4.6.7
ament_cmake_export_interfaces             : latest=2.5.6, local=2.5.6
rosidl_runtime_py                         : latest=0.13.1, local=0.13.1
ament_cpplint                             : latest=0.17.5, local=0.17.5
ros_core                                  : latest=0.11.0, local=0.11.0
libyaml_vendor                            : latest=1.6.3, local=1.6.3
ament_cmake_version                       : latest=2.5.6, local=2.5.6
class_loader                              : latest=2.7.0, local=2.7.0
ament_flake8                              : latest=0.17.5, local=0.17.5
geometry_msgs                             : latest=5.3.7, local=5.3.7
rcutils                                   : latest=6.7.5, local=6.7.5
shape_msgs                                : latest=5.3.7, local=5.3.7
rmw_implementation                        : latest=2.15.6, local=2.15.6
rosidl_typesupport_cpp                    : latest=3.2.2, local=3.2.2
ament_cmake_auto                          : latest=2.5.6, local=2.5.6
ament_lint_common                         : latest=0.17.5, local=0.17.5
ament_cmake                               : latest=2.5.6, local=2.5.6
ament_cmake_cppcheck                      : latest=0.17.5, local=0.17.5
trajectory_msgs                           : latest=5.3.7, local=5.3.7
libstatistics_collector                   : latest=1.7.4, local=1.7.4
ament_cmake_gen_version_h                 : latest=2.5.6, local=2.5.6
launch_testing                            : latest=3.4.10, local=3.4.10
ros2interface                             : latest=0.32.9, local=0.32.9
ament_index_python                        : latest=1.8.3, local=1.8.2
ament_cmake_copyright                     : latest=0.17.5, local=0.17.5
ament_cmake_ros                           : latest=0.12.0, local=0.12.0
rosidl_generator_cpp                      : latest=4.6.7, local=4.6.7
launch_testing_ament_cmake                : latest=3.4.10, local=3.4.10
composition_interfaces                    : latest=2.0.3, local=2.0.3
ros2service                               : latest=0.32.9, local=0.32.9
sros2                                     : latest=0.13.6, local=0.13.6
python_cmake_module                       : latest=0.11.1, local=0.11.1
ros2component                             : latest=0.32.9, local=0.32.9
rosidl_cli                                : latest=4.6.7, local=4.6.7
ament_cmake_export_definitions            : latest=2.5.6, local=2.5.6
uncrustify_vendor                         : latest=3.0.1, local=3.0.1
ament_cmake_libraries                     : latest=2.5.6, local=2.5.6
ament_lint                                : latest=0.17.5, local=0.17.5
rosidl_typesupport_fastrtps_c             : latest=3.6.3, local=3.6.3
ament_cmake_export_libraries              : latest=2.5.6, local=2.5.6
ament_index_cpp                           : latest=1.8.3, local=1.8.2
service_msgs                              : latest=2.0.3, local=2.0.3
rosidl_typesupport_introspection_cpp      : latest=4.6.7, local=4.6.7
statistics_msgs                           : latest=2.0.3, local=2.0.3
ament_package                             : latest=0.16.5, local=0.16.5
rosidl_runtime_c                          : latest=4.6.7, local=4.6.7
rmw_dds_common                            : latest=3.1.1, local=3.1.1
tinyxml2_vendor                           : latest=0.9.2, local=0.9.2
rcl_logging_spdlog                        : latest=3.1.1, local=3.1.1
ros2doctor                                : latest=0.32.9, local=0.32.9
ament_uncrustify                          : latest=0.17.5, local=0.17.5
launch_ros                                : latest=0.26.11, local=0.26.11
visualization_msgs                        : latest=5.3.7, local=5.3.7
rclcpp_components                         : latest=28.1.18, local=28.1.18
ament_xmllint                             : latest=0.17.5, local=0.17.5
rosidl_parser                             : latest=4.6.7, local=4.6.7
rosidl_typesupport_c                      : latest=3.2.2, local=3.2.2
ament_cmake_gmock                         : latest=2.5.6, local=2.5.6
unique_identifier_msgs                    : latest=2.5.0, local=2.5.0
ros2action                                : latest=0.32.9, local=0.32.9
ament_cmake_include_directories           : latest=2.5.6, local=2.5.6
tracetools                                : latest=8.2.5, local=8.2.5
ament_cmake_lint_cmake                    : latest=0.17.5, local=0.17.5
sros2_cmake                               : latest=0.13.6, local=0.13.6
stereo_msgs                               : latest=5.3.7, local=5.3.7
spdlog_vendor                             : latest=1.6.1, local=1.6.1
rclcpp_lifecycle                          : latest=28.1.18, local=28.1.18
rcl_lifecycle                             : latest=9.2.9, local=9.2.9
rosgraph_msgs                             : latest=2.0.3, local=2.0.3
domain_coordinator                        : latest=0.12.0, local=0.12.0
rosidl_typesupport_introspection_c        : latest=4.6.7, local=4.6.7
rosidl_generator_c                        : latest=4.6.7, local=4.6.7
launch_xml                                : latest=3.4.10, local=3.4.10
ros2launch                                : latest=0.26.11, local=0.26.11
launch_testing_ros                        : latest=0.26.11, local=0.26.11
rosidl_generator_type_description         : latest=4.6.7, local=4.6.7
ament_cmake_flake8                        : latest=0.17.5, local=0.17.5
ros_environment                           : latest=4.2.1, local=4.2.1
rosidl_core_runtime                       : latest=0.2.1, local=0.2.1
rosidl_default_runtime                    : latest=1.6.0, local=1.6.0
rosidl_runtime_cpp                        : latest=4.6.7, local=4.6.7
rcl_interfaces                            : latest=2.0.3, local=2.0.3
ros2node                                  : latest=0.32.9, local=0.32.9
ament_cmake_target_dependencies           : latest=2.5.6, local=2.5.6
rosidl_default_generators                 : latest=1.6.0, local=1.6.0
ament_cmake_cpplint                       : latest=0.17.5, local=0.17.5
ament_lint_auto                           : latest=0.17.5, local=0.17.5
ament_copyright                           : latest=0.17.5, local=0.17.5
ros2pkg                                   : latest=0.32.9, local=0.32.9
std_msgs                                  : latest=5.3.7, local=5.3.7
rosidl_generator_rs                       : latest=0.4.12, local=0.4.11
ros2topic                                 : latest=0.32.9, local=0.32.9
osrf_pycommon                             : latest=2.1.7, local=2.1.7
rosidl_dynamic_typesupport                : latest=0.1.2, local=0.1.2
rcl_yaml_param_parser                     : latest=9.2.9, local=9.2.9
rpyutils                                  : latest=0.4.2, local=0.4.2
rmw_fastrtps_shared_cpp                   : latest=8.4.3, local=8.4.3
ament_cmake_xmllint                       : latest=0.17.5, local=0.17.5
rmw                                       : latest=7.3.3, local=7.3.3
ament_lint_cmake                          : latest=0.17.5, local=0.17.5
rclpy                                     : latest=7.1.11, local=7.1.11
rmw_fastrtps_cpp                          : latest=8.4.3, local=8.4.3
lifecycle_msgs                            : latest=2.0.3, local=2.0.3
rcl                                       : latest=9.2.9, local=9.2.9
ament_cmake_pytest                        : latest=2.5.6, local=2.5.6
rosidl_adapter                            : latest=4.6.7, local=4.6.7
std_srvs                                  : latest=5.3.7, local=5.3.7
ament_cmake_core                          : latest=2.5.6, local=2.5.6
ament_pep257                              : latest=0.17.5, local=0.17.5
ament_cmake_export_targets                : latest=2.5.6, local=2.5.6
fastrtps_cmake_module                     : latest=3.6.3, local=3.6.3
console_bridge_vendor                     : latest=1.7.1, local=1.7.1
ament_cmake_export_dependencies           : latest=2.5.6, local=2.5.6
rclcpp_action                             : latest=28.1.18, local=28.1.18
ros2plugin                                : latest=5.4.5, local=5.4.5
ament_cmake_uncrustify                    : latest=0.17.5, local=0.17.5
rcl_action                                : latest=9.2.9, local=9.2.9
ament_cmake_pep257                        : latest=0.17.5, local=0.17.5
builtin_interfaces                        : latest=2.0.3, local=2.0.3
rosidl_generator_py                       : latest=0.22.2, local=0.22.2
rosidl_pycommon                           : latest=4.6.7, local=4.6.7
rcl_logging_interface                     : latest=3.1.1, local=3.1.1
pluginlib                                 : latest=5.4.5, local=5.4.5
rmw_implementation_cmake                  : latest=7.3.3, local=7.3.3
type_description_interfaces               : latest=2.0.3, local=2.0.3
ros2param                                 : latest=0.32.9, local=0.32.9
rosidl_core_generators                    : latest=0.2.1, local=0.2.1
ros2run                                   : latest=0.32.9, local=0.32.9
rosidl_typesupport_interface              : latest=4.6.7, local=4.6.7
common_interfaces                         : latest=5.3.7, local=5.3.7
tcb_span                                  : latest=1.3.0, local=1.2.0
demo_nodes_cpp                            : latest=0.33.10, local=0.33.10
example_interfaces                        : latest=0.12.0, local=0.12.0
generate_parameter_library_py             : latest=0.7.1, local=0.7.1
generate_parameter_library                : latest=0.7.1, local=0.7.1
parameter_traits                          : latest=0.7.1, local=0.7.1
tl_expected                               : latest=1.3.0, local=1.2.0
image_geometry                            : latest=4.1.0, local=4.1.0
depth_image_proc                          : latest=5.0.11, local=5.0.11
image_pipeline                            : latest=5.0.11, local=5.0.11
laser_filters                             : latest=2.0.9, local=2.0.9
angles                                    : latest=1.16.1, local=1.16.1
zstd_image_transport                      : latest=4.0.7, local=4.0.6
vision_opencv                             : latest=4.1.0, local=4.1.0
compressed_image_transport                : latest=4.0.7, local=4.0.6
tracetools_image_pipeline                 : latest=5.0.11, local=5.0.11
pcl_msgs                                  : latest=1.0.0, local=1.0.0
image_publisher                           : latest=5.0.11, local=5.0.11
filters                                   : latest=2.2.2, local=2.2.2
diagnostic_updater                        : latest=4.2.6, local=4.2.6
image_view                                : latest=5.0.11, local=5.0.11
cv_bridge                                 : latest=4.1.0, local=4.1.0
perception_pcl                            : latest=2.6.4, local=2.6.4
camera_calibration                        : latest=5.0.11, local=5.0.11
theora_image_transport                    : latest=4.0.7, local=4.0.6
pcl_ros                                   : latest=2.6.4, local=2.6.4
camera_calibration_parsers                : latest=5.1.7, local=5.1.7
camera_info_manager                       : latest=5.1.7, local=5.1.7
compressed_depth_image_transport          : latest=4.0.7, local=4.0.6
stereo_image_proc                         : latest=5.0.11, local=5.0.11
perception                                : latest=0.11.0, local=0.11.0
pcl_conversions                           : latest=2.6.4, local=2.6.4
image_transport                           : latest=5.1.7, local=5.1.7
image_rotate                              : latest=5.0.11, local=5.0.11
image_transport_plugins                   : latest=4.0.7, local=4.0.6
laser_geometry                            : latest=2.7.2, local=2.7.2
image_common                              : latest=5.1.7, local=5.1.7
image_proc                                : latest=5.0.11, local=5.0.11
rosbag2_storage_mcap                      : latest=0.26.10, local=0.26.10
tf2_msgs                                  : latest=0.36.20, local=0.36.20
pybind11_vendor                           : latest=3.1.3, local=3.1.3
sqlite3_vendor                            : latest=0.26.10, local=0.26.10
liblz4_vendor                             : latest=0.26.10, local=0.26.10
rosbag2_cpp                               : latest=0.26.10, local=0.26.10
rosbag2_interfaces                        : latest=0.26.10, local=0.26.10
orocos_kdl_vendor                         : latest=0.5.1, local=0.5.1
tf2_eigen                                 : latest=0.36.20, local=0.36.20
zstd_vendor                               : latest=0.26.10, local=0.26.10
rosbag2_compression_zstd                  : latest=0.26.10, local=0.26.10
tf2_ros_py                                : latest=0.36.20, local=0.36.20
tf2_tools                                 : latest=0.36.20, local=0.36.20
rosbag2_compression                       : latest=0.26.10, local=0.26.10
rosbag2_storage                           : latest=0.26.10, local=0.26.10
keyboard_handler                          : latest=0.3.2, local=0.3.2
rosbag2_storage_default_plugins           : latest=0.26.10, local=0.26.10
tf2_bullet                                : latest=0.36.20, local=0.36.20
tf2_sensor_msgs                           : latest=0.36.20, local=0.36.20
tf2_kdl                                   : latest=0.36.20, local=0.36.20
eigen3_cmake_module                       : latest=0.3.0, local=0.3.0
tf2                                       : latest=0.36.20, local=0.36.20
urdf                                      : latest=2.10.0, local=2.10.0
sensor_msgs_py                            : latest=5.3.7, local=5.3.7
rosbag2_py                                : latest=0.26.10, local=0.26.10
rosbag2_storage_sqlite3                   : latest=0.26.10, local=0.26.10
tf2_ros                                   : latest=0.36.20, local=0.36.20
geometry2                                 : latest=0.36.20, local=0.36.20
tf2_eigen_kdl                             : latest=0.36.20, local=0.36.20
tf2_py                                    : latest=0.36.20, local=0.36.20
robot_state_publisher                     : latest=3.3.3, local=3.3.3
rosbag2                                   : latest=0.26.10, local=0.26.10
ros_base                                  : latest=0.11.0, local=0.11.0
urdf_parser_plugin                        : latest=2.10.0, local=2.10.0
rosbag2_transport                         : latest=0.26.10, local=0.26.10
message_filters                           : latest=4.11.13, local=4.11.12
yaml_cpp_vendor                           : latest=9.0.1, local=9.0.1
ros2bag                                   : latest=0.26.10, local=0.26.10
mcap_vendor                               : latest=0.26.10, local=0.26.10
tf2_geometry_msgs                         : latest=0.36.20, local=0.36.20
python_orocos_kdl_vendor                  : latest=0.5.1, local=0.5.1
kdl_parser                                : latest=2.11.0, local=2.11.0

   PLATFORM INFORMATION
system           : Linux
platform info    : Linux-5.15.167.4-microsoft-standard-WSL2-x86_64-with-glibc2.39
release          : 5.15.167.4-microsoft-standard-WSL2
processor        : x86_64

   QOS COMPATIBILITY LIST
compatibility status    : No publisher/subscriber pairs found

   RMW MIDDLEWARE
middleware name    : rmw_fastrtps_cpp

   ROS 2 INFORMATION
distribution name      : jazzy
distribution type      : ros2
distribution status    : active
release platforms      : {'debian': ['bookworm'], 'rhel': ['9'], 'ubuntu': ['noble']}

   TOPIC LIST
topic               : none
publisher count     : 0
subscriber count    : 0

Steps to reproduce issue

1. Install ros-jazzy-demo-nodes-cpp
2. Create sample.launch.yaml bellow
3. Run ros2 launch sample.launch.yaml
4. See console output

launch:
  - node:
      pkg: demo_nodes_cpp
      exec: talker
      node-name: my_node

Expected behavior

Successfully launched the talker node, or raise ValueError exception if invalid as:

[ERROR] [launch]: Caught exception in launch (see debug for traceback): Caught multiple exceptions when trying to load file of format [yaml]:
 - ValueError: Unexpected key(s) found in `node`: {'node-name'}
 - SyntaxError: invalid syntax (sample.launch.yaml, line 1)

Actual behavior

The launch process failed with exception.

$ ros2 launch sample.launch.yaml 
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2026-04-25-02-23-00-934374-22f9ae8fc1e5-48854
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): Caught multiple exceptions when trying to load file of format [yaml]:
 - TypeError: Action.__init__() got an unexpected keyword argument 'node_name'
 - SyntaxError: invalid syntax (sample.launch.yaml, line 1)

Additional information

No response

[christophebedard]

tl;dr you should be using name and not node-name in your launch file

The node-name frontend param and node_name backend/Python class param were deprecated in Foxy and replaced with name in #122. The node_name param was removed from the Python class in #190, but it wasn't removed from the frontend parsing code. Looks like #538 is taking care of that now.

Did you find a launch file somewhere that's still using node-name? If so, it would be helpful if you could let us know so that we can update it.

[ok-tmhr]

Did you find a launch file somewhere that's still using node-name? If so, it would be helpful if you could let us know so that we can update it.

No, I did not. The way where I encountered it is that I have look over the Python code to create helpful schemas for front-end launch files as

https://github.com/ok-tmhr/ros2_schema/tree/jazzy/schema.

[christophebedard]

Oh, very nice! I hope you post on https://discourse.openrobotics.org/ to share it when you're ready 😀