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<?xml version="1.0"?>
<launch>
   <xacro:property name="cam_serial" value="$(arg cam_serial)"/>
   <xacro:unless value="<21665943>">
   <
   \>
</xacro:unless>
</launch>

Why is that extra pair of <> there? The <... some xml code here ...> on the wiki/xacro - Conditional Blocks is meant as an example. You are expected to replace all of it, including the <>.

Same goes for the contents of your value attribute on the xacro:unless element.

Also: the expression inside a unless or if should evaluate to a boolean (so true or false). Now 21665943 will probably evaluate to true, but I'm not sure that is what you are after. I would expect to find something like value="something == something".

<?xml version="1.0"?>
<launch>
   <xacro:property name="cam_serial" value="$(arg cam_serial)"/>
   <xacro:unless value="<21665943>">
   <
   [..]
   \>
</xacro:unless>
</launch>

Why is that extra pair of <> there? The <... some xml code here ...> on the wiki/xacro - Conditional Blocks is meant as an example. You are expected to replace all of it, including the <>.

Same goes for the contents of your value attribute on the xacro:unless element.

Also: the expression inside a unless or if should evaluate to a boolean (so true or false). Now 21665943 will probably evaluate to true, but I'm not sure that is what you are after. I would expect to find something like value="something == something".