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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:

<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#

Enables or disables the Agnocast–ROS 2 Bridge for interoperability with standard ROS 2 nodes.

Value Description
0 or off Bridge disabled. Agnocast and ROS 2 nodes cannot communicate.
on Bridge enabled (default). One bridge manager per IPC namespace.

Case-insensitive. Falls back to on with a warning if an unknown value is given. 1 / standard and 2 / performance are accepted for backward compatibility but are deprecated aliases for on.

export AGNOCAST_BRIDGE_MODE=on

AGNOCAST_BRIDGE_PLUGINS_PATH#

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.

export AGNOCAST_BRIDGE_PLUGINS_PATH=/opt/my_plugins:/home/user/plugins