Context. G29.96-0.02 is a high-mass star-forming cloud observed at 70, 160, 250, 350, and 500 microns as part of the Herschel survey of the Galactic Plane during the Science Demonstration Phase. Aims. We wish to conduct a far-infrared study of the sources associated with this star-forming region by estimating their physical properties and evolutionary stage, and investigating the clump mass function, the star formation efficiency and rate in the cloud. Methods. We have identified the Hi-GAL sources associated with the cloud, searched for possible counterparts at centimeter and infrared wavelengths, fitted their spectral energy distribution and estimated their physical parameters. Results. A total of 198 sources have been detected in all 5 Hi-GAL bands, 117 of which are associated with 24 microns emission and 87 of which are not associated with 24 microns emission. We called the former sources 24 microns-bright and the latter ones 24 microns-dark. The [70-160] color of the 24 microns-dark sources is smaller than that of the 24 microns-bright ones. The 24 microns-dark sources have lower L_bol and L_bol/M_env than the 24 microns-bright ones for similar M_env, which suggests that they are in an earlier evolutionary phase. The G29-SFR cloud is associated with 10 NVSS sources and with extended centimeter continuum emission well correlated with the 70 microns emission. Most of the NVSS sources appear to be early B or late O-type stars. The most massive and luminous Hi-GAL sources in the cloud are located close to the G29-UC region, which suggests that there is a privileged area for massive star formation towards the center of the G29-SFR cloud. Almost all the Hi-GAL sources have masses well above the Jeans mass but only 5% have masses above the virial mass, which indicates that most of the sources are stable against gravitational collapse. The sources with M_env > M_virial and that ...
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