[velodyne_hw_monitor_ros_wrapper_node] dies with default cloud_max_angle param

[mebasoglu]

Description

The velodyne_hw_monitor_ros_wrapper_node dies after launching with default cloud_max_angle parameter which is 360 in the launch file.

Expected behavior

The node should launch successfully.

Actual behavior

The node dies after launching with default cloud_max_angle parameter.

Steps to reproduce

1. Run the launch file for Velodyne:

ros2 launch nebula_ros velodyne_launch_all_hw.xml sensor_model:=VLP16 sensor_ip:=192.168.1.211 data_port:=2371

Here is the terminal output for

[velodyne_hw_monitor_ros_wrapper_node-3] terminate called after throwing an instance of 'rclcpp::exceptions::InvalidParameterValueException'
[velodyne_hw_monitor_ros_wrapper_node-3]   what():  parameter 'cloud_max_angle' could not be set: Parameter {cloud_max_angle} doesn't comply with integer range.

[ERROR] [velodyne_hw_monitor_ros_wrapper_node-3]: process has died [pid 401901, exit code -6, cmd '/home/dell/projects/autoware/install/nebula_ros/lib/nebula_ros/velodyne_hw_monitor_ros_wrapper_node --ros-args -r __node:=hesai_hw_monitor_velodyne --params-file /tmp/launch_params_qkt2qey4 --params-file /tmp/launch_params_nwqn6fqe --params-file /tmp/launch_params_pja0yc2p --params-file /tmp/launch_params_1ghge91i --params-file /tmp/launch_params_ljvb55yo --params-file /tmp/launch_params_i76ho2il --params-file /tmp/launch_params__q573zys --params-file /tmp/launch_params_xuzebbul --params-file /tmp/launch_params_hi4segsz --params-file /tmp/launch_params_kstk1cjx --params-file /tmp/launch_params_pbw3aca6 --params-file /tmp/launch_params_30sv9nan --params-file /tmp/launch_params_cc6qdurv --params-file /tmp/launch_params_wkmxeqps'].

Possible causes

The range for the parmater is set between 0 and 359 here:

nebula/nebula_ros/src/velodyne/velodyne_hw_monitor_ros_wrapper.cpp

Line 281 in 189d7e2

range.set__from_value(0).set__to_value(359).set__step(1);

However, in the launch file the cloud_max_angle param is set to 360:

nebula/nebula_ros/launch/velodyne_launch_all_hw.xml

Line 17 in 189d7e2

<arg name="cloud_max_angle" default="360" description="Field of View, end degrees."/>