YARP uses several to changes its behavior at runtime. All the Environmental Variables used by YARP are listed in this page.
Logger and print configuration
| Environmental variable | Description | Related documentation page |
YARP_QUIET | If this variables exists and is set to a positive integer, it disables the (internal) YARP messages prints. Note: this variable do not modify the behavior of yError, yDebug, ... . | yarp_log |
YARP_VERBOSE | If this variables exists and is set to a nonnegative integer, it sets the verbosity level (the higher the integer, the more messages will be printed) for YARP messages prints. This variable is ignored if YARP_QUIET is set to a positive integer. Note: this variable does not modify the behavior of yError, yDebug, ... . | yarp_log |
YARP_COLORED_OUTPUT | If this variable exists and is set to 1, it enables the YARP colored prints. Otherwise disable the colored prints. | yarp_log |
YARP_COMPACT_OUTPUT | If this variable exists and is set to 1, and colors are enabled, print a single colored character instead of the log level. | yarp_log |
YARP_VERBOSE_OUTPUT | If this variable exists and is set to 1, it adds to the YARP prints the filename, the line of the source and the function from which the message is printed. | yarp_log |
YARP_TRACE_ENABLE | If this variable exists and is set to 1, it enables the YARP trace prints. Otherwise disable the trace prints. | yarp_log |
YARP_DEBUG_ENABLE | If this variable exists and is set to 0, it disables the YARP debug prints. Otherwise leaves them enabled. | yarp_log |
YARP_FORWARD_LOG_ENABLE | If this variable exists and is set to 1, enables the forwarding of log over ports to be used by the yarplogger. Otherwise disable the forwarding. | yarp_log |
Configuration files
| Environmental variable | Description | Related documentation page |
YARP_CONFIG_HOME | Location where user config files are stored. | resource_finder_spec |
XDG_CONFIG_HOME | Location where user config files are stored (only if YARP_CONFIG_HOME is not set). | resource_finder_spec |
YARP_DATA_HOME | Location where user data files are stored. | resource_finder_spec |
XDG_DATA_HOME | Location where user data files are stored (only if YARP_DATA_HOME is not set). | resource_finder_spec |
YARP_CONFIG_DIRS | Locations where system administrator data and config files are stored. | resource_finder_spec |
XDG_CONFIG_DIRS | Locations where system administrator data and config files are stored (only if YARP_CONFIG_DIRS is not set). | resource_finder_spec |
YARP_DATA_DIRS | Locations where installed data and config files are stored. | resource_finder_spec |
XDG_DATA_DIRS | Locations where installed data and config files are stored (only if YARP_DATA_DIRS is not set). | resource_finder_spec |
YARP_ROBOT_NAME | Variable used to refer to the name of the specific robot used in the system, to load its specific configuration files. | yarp_data_dirs |
Note that more platform-specific non-YARP environmental variables are used when searching for YARP configuration files. See The ResourceFinder Specification for a full description of the environmental variables used for finding configuration files.
UDP Carrier configuration
| Environmental variable | Description | Related documentation page |
YARP_DGRAM_SIZE | Large UDP messages are broken into a series of datagrams. This variable control the size of this datagrams in bytes for both the udp and mcast carriers. | carrier_config |
YARP_MCAST_SIZE | This variable controls the size of datagrams in bytes for just the mcast carrier. | carrier_config |
YARP_UDP_SIZE | This variable controls the size of datagrams in bytes for just the udp carrier. | carrier_config |
YARP_DGRAM_BUFFER_SIZE | This variable controls the size in bytes of the UDP socket buffer, both for receiving and sending. | |
YARP_DGRAM_RECV_BUFFER_SIZE | This variable controls the size in bytes of the UDP socket receiving buffer. | |
YARP_DGRAM_SND_BUFFER_SIZE | This variable controls the size in bytes of the UDP socket sending buffer. | |
ROS configuration
| Environmental variable | Description | Related documentation page |
ROS_MASTER_URI | If a ROS1 roscore is present in the network, this variable should contain its URI. If a ROS1 installation is present on the machine, this variable is typically set by ROS configuration scripts. | http://wiki.ros.org/ROS/EnvironmentVariables |
YARP_USE_ROS | If this variable is set to something different from an empty string, the yarpserver will always be launched with ROS support. For example `YARP_USE_ROS=1 yarpserver is equivalent to yarpserver --ros. | yarp_with_ros_nameservers |
Misc configuration
| Environmental variable | Description | Related documentation page |
YARP_CLOCK | If this variable is set, the default YARP time facilities will read the time from the yarp port whose name is contained in this variable. | |
YARP_PORT_PREFIX | If this variable is set, its content is prepended to the name of the port whenever a port is opened. For example: YARP_PORT_PREFIX=/prefix yarp read /read will open a port named /prefix/read for shells where this syntax is permitted. | |
YARP_RENAME<???> | Suppose a program has a port called /foo/bar and there is no way provided to change the name of that port other than source code modification. The port name can be changed entirely setting the YARP_RENAME_foo_bar variable to the desired name of the port. For example: YARP_RENAME_read=/logger yarp read /read will open a port named /logger for shells where this syntax is permitted. Renames (if present) are applied before prefixes specified with YARP_PORT_PREFIX (if present). | |
YARP_NAMESPACE | If this variable is set, its content is used by YARP as namespace, overriding the value set by yarp namespace | |
YARP_IP | If this variable is set, it forces the IP address used for registering YARP ports to be in a particular family. Prefixes are allowed. For example, on a machine with a 10.11.4.4 address and a 192.168.1.10 address, seeting YARP_IP to 192 or 192.168 or 192.168.1.10 all result in the 192.xxx.xxx.xxx IP address being used. | |
TODO YARP_IS_YARPRUN TODO YARPRUN_IS_FORWARDING_LOG
Other
Environment variables related to YARP, but not consumed by YARP itself
| Environmental variable | Description | Related documentation page |
YARP_DIR | Variable consumed by CMake to find the location of YARP. See https://cmake.org/cmake/help/latest/command/find_package.html for more info | |
YARP_ROOT | Variable that usually points to the source directory of the YARP repository, used typically in YARP documentation. | |
Deprecated Environmental Variables
| Environmental variable | Description | Related documentation page |
YARP_POLICY | Legacy variable used to change the behavior of the ResourceFinder. Deprecated since YARP 2.3.65 | |
YARP_STACK_SIZE | Default stack size (in bytes) for YARP threads. Deprecated since YARP 3.0.0 | |
YARP_LOGGER_STREAM | Legacy variable to print legacy debug messages on stdout instead instead of stderr. Deprecated since YARP 3.4.0 | |
Build system
1.8.20