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yarp_env_variables.md

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YARP Environmental Variables {#yarp_env_variables}

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_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 do not modify the behavior of yError, yDebug, ... .
YARP_LOGGER_STREAM By default, the yError, yDebug, ... messages are printed on the stderr stream. If this variables exists and is set to stdout, the messages will be printed to stdout instead.
YARP_COLORED_OUTPUT If this variable exists and is set to 1, it enables the YARP colored prints. Otherwise disable the colored prints.
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_TRACE_ENABLE If this variable exists and is set to 1, it enables the YARP trace prints. Otherwise disable the trace prints.
YARP_DEBUG_ENABLE If this variable exists and is set to 0, it disables the YARP debug prints. Otherwise leaves them enabled.
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.

Configuration files

Environmental variable Description Related documentation page
YARP_CONFIG_HOME Location where user config files are stored. \ref resource_finder_spec
YARP_DATA_HOME Location where user data files are stored. \ref resource_finder_spec
YARP_CONFIG_DIRS Locations where system administrator data and config files are stored. \ref resource_finder_spec
YARP_DATA_DIRS Locations where installed data and config files are stored. \ref 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. \ref yarp_data_dirs

Note that more platform-specific non-YARP environmental variables are used when searching for YARP configuration files. See http://www.yarp.it/resource_finder_spec.html 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. \ref carrier_config
YARP_MCAST_SIZE This variable controls the size of datagrams in bytes for just the mcast carrier. \ref carrier_config
YARP_UDP_SIZE This variable controls the size of datagrams in bytes for just the udp carrier. \ref 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 yarpserveris equivalent toyarpserver --ros`. \ref 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_STACK_SIZE Default stack size (in bytes) for YARP threads.
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.

Environmental variables related to YARP, but not consumed by YARP itself

Environmental variable Description
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 tipically in YARP documentation.

Deprecated Environmental Variables

Environmental variable Description
YARP_POLICY Legacy variable used to change the behavior of the ResourceFinder. Deprecated since YARP 2.3.65