Environment Variables#
These environment variables configure Agnocast runtime behavior.
LD_PRELOAD#
Required. Must include libagnocast_heaphook.so to route heap allocations to shared memory. Agnocast validates this at startup and exits with an error if missing.
Set it per-node in a launch file:
xml
<node pkg="my_package" exec="my_node" name="my_node" output="screen">
<env name="LD_PRELOAD" value="libagnocast_heaphook.so:$(env LD_PRELOAD '')" />
</node>
AGNOCAST_BRIDGE_MODE#
Controls the Agnocast–ROS 2 bridge mode for interoperability with standard ROS 2 nodes.
| Value | Description |
|---|---|
0 or off |
Bridge disabled. Agnocast topics are not visible to ROS 2 nodes. |
1 or standard |
Standard mode (default). Each Agnocast process runs its own bridge manager. |
2 or performance |
Performance mode. A single global bridge manager handles all bridging with pre-compiled plugins for lower overhead. |
Case-insensitive. Falls back to Standard mode with a warning if an unknown value is given.
bash
export AGNOCAST_BRIDGE_MODE=standard
AGNOCAST_BRIDGE_PLUGINS_PATH#
Performance mode only. Colon-separated list of additional search paths for bridge plugin shared libraries (.so files). If not set, plugins are searched in the default package install location.
bash
export AGNOCAST_BRIDGE_PLUGINS_PATH=/opt/my_plugins:/home/user/plugins