adore/adore.env at develop · markodlr/adore · GitHub

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# ADORe Environment Variables

## This file provides the ability of modifying the behavior of the ADORe CLI.
## Review the environmental variables and their corresponding documentation
## for a complete explanation of all behavioral changes to the ADORe CLI.

set -a


# General Configuration
# =====================
# MAX_COMMIT_FILE_SIZE_kB:
#   - Maximum allowed file size (in kilobytes) for the pre-commit hook.
#
# SUBMODULES_PATH:
#   - Path to project submodules. Defaults to the current working directory.
#
# ROS_HOME:
#   - Path to the ROS home directory for logging and runtime files.
# -----------------------------------------------------------------------------
MAX_COMMIT_FILE_SIZE_kB=5000
SUBMODULES_PATH=$(pwd)
ROS_HOME=$(realpath .log/.ros)

# The ADORe CLI includes x11 integration to run graphical applications. It will
# auto-detect if a display is connected otherwise default to a virtual xvfb
# display.
# VIRTUAL_DISPLAY: Disable auto-detection and force virtual display creation
# - Set to "true" to always create virtual display on :99 (bypasses auto-detection)
# - Set to "false" or leave unset to auto-detect physical displays
# - Default: false (auto-detect physical displays, create virtual only if none found)
VIRTUAL_DISPLAY=false


# Build Configuration
# ===================
# FORCE_SINGLE_CORE_BUILD:
# adore libraries in `libraries` and ros nodes in `ros2_workspace` are built in
# parallel using colcon and -j$(nproc - 1). This can crash systems that do not
# meet the minimum build specs for ADORe. Disable parallel builds with this
# environmental variable.
#   - Set to "true" to force sequential builds regardless of available RAM.
#   - Set to "false" to use automatic RAM-based parallel build detection.
#   - Default: false
# -----------------------------------------------------------------------------
FORCE_SINGLE_CORE_BUILD=false

# ROS Topic Benchmark Configuration
# ===================
# RUN the topic benchmark with `make benchmark`
# Scenario file to launch for benchmarking (located in adore_scenarios/simulation_scenarios/)
export ROS_BENCHMARK_SCENARIO="simulation_test.launch.py"

# Minimum acceptable message rate in Hz - benchmark fails if average rate is below this value
export ROS_BENCHMARK_MIN_RATE=10

# Maximum acceptable jitter in seconds (difference between max and min message intervals)
# Benchmark fails if jitter exceeds this threshold
export ROS_BENCHMARK_MAX_JITTER=0.04

# Maximum acceptable standard deviation in seconds for message timing consistency
# Benchmark fails if standard deviation exceeds this threshold
export ROS_BENCHMARK_MAX_STD=0.014


# ADORE API Configuration
# =====================
# ENABLE_ADORE_API:
#   - Set to "true" to enable the ADORE API (default if unset or empty).
#   - Set to "false" to disable the ADORE API.
#
# ADORE_API_PORT:
#   - The port on which the ADORE API server will listen.
# -----------------------------------------------------------------------------
ENABLE_ADORE_API=true
ADORE_API_PORT=8888


# Rsyslog Configuration
# =====================
# The ADORe CLI includes rsyslog server. The rsyslog output directory for log
# files is: `.log/rsyslog`. The ADORe CLI rsyslog provides a rsyslog server
# which can be configured with the 'RSYSLOG_PORT' and 'RSYSLOG_PROTOCOL'
# environmental variables. Rsyslog can also be configured to forward messages
# with the 'RSYSLOG_FORWARD_HOST', 'RSYSLOG_FORWARD_PORT', and
# 'RSYSLOG_FORWARD_PROTOCOL'
#
# Rsyslog messages with tags "ros2" and "telemetry" will be stored and forwarded
#   example(from within the ADORe CLI run): logger --tag ros2 "Hello, World!"

# RSYSLOG_PORT: Port for local rsyslog server to listen on
# - Set to a port number (e.g., 514) to enable syslog reception
# - Leave empty or unset to disable local syslog server entirely
# - Default: unset (syslog server disabled)
RSYSLOG_PORT=514

# RSYSLOG_PROTOCOL: Protocol for local rsyslog server input
# - Options: "udp" or "tcp"
# - Determines whether to use UDP or TCP for incoming syslog messages
# - Only used when RSYSLOG_PORT is set
# - Default: udp
RSYSLOG_PROTOCOL=udp

# RSYSLOG_FORWARD_HOST: Remote syslog server to forward logs to
# - Set to hostname or IP address to enable log forwarding
# - Leave empty or unset to disable forwarding
# - Default: unset (no forwarding)
RSYSLOG_FORWARD_HOST=10.34.192.60

# RSYSLOG_FORWARD_PORT: Port on remote syslog server for forwarding
# - Port number to use when forwarding to RSYSLOG_FORWARD_HOST
# - Only used when RSYSLOG_FORWARD_HOST is set
# - Default: 514
RSYSLOG_FORWARD_PORT=2514

# RSYSLOG_FORWARD_PROTOCOL: Protocol for log forwarding
# - Options: "udp" or "tcp"
# - Only used when RSYSLOG_FORWARD_HOST is set
# - Default: udp
RSYSLOG_FORWARD_PROTOCOL=udp

set +a