Common Commandline Options and Environment Variables

Common Commandline Options

Unless stated otherwise, the following commandline options are accepted by all tools:

--version

Print version information and exit.

--help, -h

Print this help and exit.

--help-for THING

Print help for THING and exit. This option can be specified multiple times.

Note

This option is only available in the Common Lisp implementation.

--info-stream STREAM-NAME

Stream to which information messages should be sent. Allowed values for STREAM-NAME: stdout, standard-output, stderr, error-output, none. Default info stream is: error-output

Note

This option is only available in the Common Lisp implementation.

--log-level LEVEL

Controls the amount of generated log output. Allowed values for LEVEL: off, trace, info, warn and error. Default log level is warn.

Note

This option is only available in the Common Lisp implementation.

--trace SPEC

Trace specified things. This option can be supplied multiple times to trace multiple things. Each occurrence takes an individual SPEC which has to have one of the following forms:

"PACKAGE"

Trace all functions in the package named PACKAGE.

Note

The double quotes and uppercase.

FUNCTION-NAME

Trace the function named FUNCTION-NAME.

Note

No quotes, actual case of the function name.

Note

This option is only available in the Common Lisp implementation.

--debug

Enable debugging. This does the following things:

• Set the log level such that debug output is emitted

• Enable printing backtraces instead of just condition reports in case of unhandled error conditions

• Optionally, application-specific debugging

Note

This option is only available in the Common Lisp implementation.

--swank

Start a slime listener. Swank will print the port it listens on. In addition, a file named ./swank-port.txt containing the port number is written.

Note

This option is only available in the Common Lisp implementation.

--eval SEXP

Evaluate SEXP as Lisp code. This option can be supplied multiple times. Code fragments are evaluated in the order in which they appear on the commandline.

Note

This option is only available in the Common Lisp implementation.

--load FILE

Load FILE. This option can be supplied multiple times. Files are loaded in the order in which they appear on the commandline.

Note

This option is only available in the Common Lisp implementation.

Error-handling-related Commandline Options

--on-error

Specifies the high-level policy for handling errors. Possible policies are:

abort

Save and cleanup as much as possible, then terminate with unsuccessful result indication.

continue

Try to recover from errors and produce best-effort results.

Warning

This policy should only be used when the ongoing execution of some program is most important since it can lead to errors being overlooked.

Note

This option is only available in the Common Lisp implementation.

IDL-related Commandline Options

--idl-path DIRECTORIES, -I DIRECTORIES

DIRECTORIES is a list of :-separated directory names from which data definitions should be loaded. This option can be supplied multiple times.

Note

This option is only available in the Common Lisp implementation.

--load-idl FILE-OR-GLOB-EXPRESSION, -l FILE-OR-GLOB-EXPRESSION

Load data definition from FILE-OR-GLOB-EXPRESSION. If a glob expression is specified, in addition to the canonical globbing syntax, expressions of the form:

SOMESTUFF/**/MORESTUFF

can be used to search directories recursively. If the file designated by FILE-OR-GLOB-EXPRESSION depend on additional data definition files (i.e. contain import statements), the list of directories supplied via the --idl-path option is consulted to find these files. This option can be supplied multiple times.

Note

This option is only available in the Common Lisp implementation.

--on-demand-idl-loading BEHAVIOR

Controls on-demand loading of required data definitions.

none

Do not attempt to load data definitions on demand.

blocking

Block computations requiring data definitions until the respective definition has been loaded and processed.

Data definition files are located on the path specified using the --idl-path option.

Note

This option is only available in the Common Lisp implementation.

Common Environment Variables

Configuration Debugging

See also

Configuration Debugging

Details about configuration debugging

RSB_CONFIG_DEBUG

When set to any value, activates configuration debugging.

RSB_CONFIG_FILES

When set, changes the list of configuration files RSB tries to load.

Plugins

See also

Plugins

Details about plugins

RSB_PLUGINS_CPP_PATH

A list of :-separated directory names which should be searched to locate RSB plugins.

Default value: INSTALL-PREFIX/lib/rsbVERSION/plugins.

RSB_PLUGINS_CPP_LOAD

A list of :-separated plugin names which should be loaded during RSB initialization.

Example: RSB_PLUGINS_CPP_LOAD=rsbspread

TODO other languages

In-process Transport

See also

Inprocess Transport

Details about the inprocess transport

RSB_TRANSPORT_INPROCESS_ENABLED

1: Enable in-process transport in this process;

0: Disable in-process transport in this process.

Spread Transport

See also

Spread Transport

Details about the Spread transport

RSB_TRANSPORT_SPREAD_ENABLED

1: Enable Spread transport in this process.

0: Disable Spread transport in this process.

RSB_TRANSPORT_SPREAD_HOST

Name or IP-address of the machine running the Spread daemon.

Allowed values: a hostname or IP-address.

RSB_TRANSPORT_SPREAD_PORT

Port on which the Spread daemon listens.

Allowed values: a port number, i.e. an integer in the range [1, 65535].

TCP-socket-based Transport

See also

TCP-Socket Transport

Details about the socket transport

RSB_TRANSPORT_SOCKET_ENABLED

1: Enable TCP-socket-based transport in this process.

0: Disable TCP-socket-based transport in this process.

RSB_TRANSPORT_SOCKET_HOST

Name or IP-address of the machine running the RSB TCP-socket-based server component.

Allowed values: a hostname or IP-address.

RSB_TRANSPORT_SOCKET_PORT

Port on which the RSB TCP-socket-based server component listens.

Allowed values: a port number, i.e. an integer in the range [1, 65535].

RSB_TRANSPORT_SOCKET_SERVER

1: This process should act as the RSB TCP-socket-based server component.

0: This process should connect to the TCP-socket-based server.

auto: This process should try to determine whether there already is a TCP-socket-based server for the configured host-port combination and act as a server or client accordingly.

Warning

Generally, the “auto” option only works and makes sense for setups confined to a single computer.

For details of the underlying mechanism, see Addresses and Ports.

RSB_TRANSPORT_SOCKET_TCPNODELAY

1: The TCP_NODELAY flag should be used to trade reduced latency for (potentially) decreased throughput.

0: The TCP_NODELAY flag should not be used.

TCP YARP Transport

See also

TCP+YARP Transport (without Nameservice operations)

Details about the YARP transport without nameservice operations

Note

This transport is currently available in the C++ and Common Lisp implementations of RSB.

Note

The URL schema for this transport is tcp+yarp which is mapped to TCP_YARP (note the underscore) in environment variable names.

RSB_TRANSPORT_TCP_YARP_ENABLED

1: enable low-level TCP YARP transport in this process.

0: disable the transport in this process.

RSB_TRANSPORT_TCP_YARP_HOST

Name or IP-address of the YARP port to which a connection should be established.

Allowed values: a hostname or IP-address.

RSB_TRANSPORT_TCP_YARP_PORT

TCP port of the YARP port to which a connection should be established.

Allowed values: a port number, i.e. an integer in the range [1, 65535].

YARP Transport with Nameservice Lookup

See also

YARP Transport (with Nameservice operations)

Details about the YARP transport with nameservice operations

Note

This transport is currently only available in the Common Lisp implementations of RSB.

RSB_TRANSPORT_YARP_ENABLED

1: enable YARP transport with nameservice lookup in this process.

0: disable the transport in this process.

RSB_TRANSPORT_YARP_HOST

Name or IP-address of the YARP nameserver.

Allowed values: a hostname or IP-address.

RSB_TRANSPORT_YARP_PORT

TCP port on which the YARP nameserver listens.

Allowed values: a port number, i.e. an integer in the range [1, 65535].

TCP ROS Transport

See also

TCP+ROS Transport (without Master Lookup)

Details about the ROS transport without nameservice (aka master) operations

Note

This transport is currently available in the Common Lisp implementation of RSB.

Note

The URL schema for this transport is tcp+ros which is mapped to TCP_ROS (note the underscore) in environment variable names.

RSB_TRANSPORT_TCP_ROS_ENABLED

1: enable low-level TCP ROS transport in this process; 0: disable the transport in this process.

RSB_TRANSPORT_TCP_ROS_HOST

Name or IP-address of the ROS node to which a connection should be established.

Allowed values: a hostname or IP-address.

RSB_TRANSPORT_TCP_ROS_PORT

TCP port of the ROS node to which a connection should be established.

Allowed values: a port number, i.e. an integer in the range [1, 65535].

ROS Transport with Nameservice Lookup

See also

ROS Transport (with Master Lookup)

Details about the ROS transport with nameservice (aka master) operations

Note

This transport is currently only available in the Common Lisp implementations of RSB.

RSB_TRANSPORT_ROS_ENABLED

1: enable ROS transport with nameservice lookup in this process; 0: disable the transport in this process.

RSB_TRANSPORT_ROS_HOST

Name or IP-address of the ROS master.

Allowed values: a hostname or IP-address.

RSB_TRANSPORT_ROS_PORT

TCP port on which the ROS master listens.

Allowed values: a port number, i.e. an integer in the range [1, 65535].