Environment variables for the agent
Using environment variables to control agent behavior
The formant user which runs the formant-agent process sources /var/lib/formant/.bashrc before running the agent process. Environment variables can be added to this file to control agent behavior.
What environment variables can I add to /var/lib/formant/.bashrc?
/var/lib/formant/.bashrc?Here is a list of user-facing environment variables, their description, their default values. If the default value is empty, nothing occurs unless the environment variable is set to some value.
Restart the agent for changes to take effect
Please make sure to restart the agent (
systemctl restart formant-agentfor native installations) for any changes to environment variables to take effect.
ROS environment variables
| Name | Default value | Description |
|---|---|---|
ROS_MASTER_URI | http://localhost:11311 | The address of the ROS master to which the Formant ROS Bridge connects. |
CATKIN_WS | The path to the root of the catkin workspace. The Formant agent uses this to find custom ROS message definitions. | |
SOURCE_SCRIPT | If the ROS setup files are not in <catkin_ws>/devel/setup.bash, the custom location of ROS setup script. | |
FORMANT_AGENT_PYTHON_PATH | python | The file location of the Python interpreter used by the tf2 bridge. |
FORMANT_OVERRIDE_TIMESTAMP | false | Enables replacement of timestamps on ROS messages with the current time. |
General environment variables
| Default value | ||
|---|---|---|
FORMANT_AGENT_IP | localhost | The IP address where the Formant Agent will start it's server. |
FORMANT_AGENT_GRPC_UNIX_SOCKET | /var/lib/formant/agent.sock | The Unix Socket where the Formant Agent will start it's server. |
FORMANT_AGENT_GRPC_PORT | 5501 | The port where the Formant Agent will expose the gRPC interface. |
FORMANT_AGENT_HTTP_PORT | 5502 | The port where the Formant Agent will expose the HTTP interface. |
FORMANT_PORT_FORWARDING | true | Enables the local port forwarding feature. |
FORMANT_AGENT_PYTHON3_PATH | python3 | The file location of the python3 interpreter used by the ROS bridge and media encoder. |
FORMANT_DISABLE_PYTHON | false | Disables all python subprocesses for the agent. This includes the media encoder, ROS bridge, and ROS TF bridge. Since the media encoder is a python subprocess, disabling python will disable all video and audio encoding. |
FORMANT_DISABLE_TEGRA_STATS | false | Disables the automatic collection and ingestion of default telemetry streams specific to Tegra systems. Jetson products (Nano, Xavier, etc.) are Tegra systems. |
FORMANT_DISABLE_STANDARD_HOST_METRICS | false | Disables the automatic collection and ingestion of default telemetry streams, such as CPU, memory, and IP-based location. |
FORMANT_DISABLE_TERMINAL | false | Disables the web terminal feature that allows users to run a shell through the agent. |
FORMANT_AGENT_SERVER_KEY | File location of the TLS key | |
FORMANT_AGENT_SERVER_CERT | File location of the TLS cert. | |
FORMANT_DEBUG | false | Enables debug logs. |
FORMANT_UPLOAD_DEBUG_OUTPUT | false | Enables the uploading of debug logs when the environment is not production. |
FORMANT_PROVISIONING_TOKEN | Formant provisioning token used to provision an agent. | |
FORMANT_NAME | Name of the Formant Agent, used to override Agent name during provisioning. | |
FORMANT_DISABLE_SYSINFO | false | Disables system information collection. (Used for NVIDIA containers). |
FORMANT_TERMINAL_BUFFER_SIZE | 40000 | Size in bytes of the terminal buffer. |
FORMANT_GST_INFO | false | Enable log info for gstreamer |
Media environment variables
FORMANT_ACCELERATED_VIDEO_ENCODING | true | Enables jetson hardware accelerated encoding of video. |
FORMANT_FORCE_ACCELERATED_VIDEO_ENCODING | false | If the Jetson accelerated encoder crashes, the Formant agent will turn it off. Set this to true to prevent this and keep retrying with acceleration. |
FORMANT_ENCODING_BITRATE | 512 | Overrides the bitrate (Kbps) of all agent-encoded video streams. |
FORMANT_AUDIO_SAMPLE_RATE | 16000 | Sample rate of audio device's signal. |
FORMANT_AUDIO_NUM_CHANNELS | 1 | Number of channels of the audio device. |
FORMANT_AUDIO_USE_FILTER | true | Use anlmdn filter on audio to reduce noise. |
FORMANT_AUDIO_BITRATE | 96k | Desired bitrate of uploaded audio. |
FORMANT_AUDIO_SAMPLE_FORMAT | s16le | Sample format of the audio device. |
FORMANT_OVERRIDE_AUDIO_CONFIGURATION | false | Override audio configuration with provided values. |
FORMANT_OVERRIDE_BITRATE | false | Override video bitrate from configuration. |
FORMANT_VIDEO_FRAMERATE | 24 | Assumed framerate of video, if framerate cannot be determined from source. |
FORMANT_FRAMERATE_CAP | 30 | If the hardware source is greater than this value, Formant will re-encode it to this value. |
FORMANT_TARGET_FRAMERATE | 30 | Target framerate for hardware video streams. |
FORMANT_PREFER_H264_SOURCE | false | Receive h264 video directly from hardware camera if offered. |
FORMANT_ALLOW_H264_SOURCE | false | If other pixel formats do not work well, allow H264 to also be chosen. This will be true if FORMANT_PREFER_H264_SOURCE is also true. |
FORMANT_PREFER_MJPG | false | Prefer the MJPG hardware video stream, if there is one. Typically, MJPG will be the last choice. |
FORMANT_ENABLE_ADAPTIVE_BITRATE | true | Allow Formant to automatically reduce the video bitrate if network degradation is detected during teleoperation. Note: this will also affect encoding for telemetry streams. |
FORMANT_LOW_BANDWIDTH_BITRATE | 64 | Bitrate to set video to when low bandwidth mode is enabled. |
FORMANT_USE_RTP_JITTER_BUFFER | false | Enables use of jitter buffer (debug only). |
FORMANT_FLV_DECODE | true | Decode RTMP stream as FLV (Turn off if RTMP stream isn't working, usually because it has an audio stream). |
FORMANT_RTSP_BUFFER_LENGTH | 0 | Length in ms of RTSP buffer. Increase this to add stability to RTSP video (at cost of latency). |
FORMANT_FORCE_ALLOW_PICAM | false | Enable use of Picam on Raspberry Pi or Jetson |
FORMANT_DISABLE_RESIZE_VIDEO | false | Disable Formant agent resizing the aspect ratio of the video. |
FORMANT_RTSP_PROTOCOLS | '"udp+tcp"' | Protocol for RTSP stream. Choose udp, tcp or udp+tcp. |
FORMANT_ENCODE_SPEED_PRESET | "ultrafast" | Set the quality/speed tradeoff with GStreamer speed preset (corresponds to the enum GstX264EncPreset). |
FORMANT_ACCELERATED_ENCODE_SPEED_PRESET | 1 | The speed-preset for Jetson hardware-accelerated video encoding. Values are in the range [0,4]. |
FORMANT_VIDEO_PASS_OPTIONS | 0 (or "cbr") | Sets the 'rate control' of the video encoder. Corresponds to the enum "GstX264EncPass". If it is "cbr", "pass1", "pass2", or "pass3", then the bitrate that is specified (either by FORMANT_OVERRIDE_BITRATE or by Formant) will be the target bitrate. See this page for more details. |
FORMANT_VIDEO_QUANTIZER | 21 | If using "quant" (4) or "qual" (5) above, then this will be the parameter passed to the quantizer. See the documentation here for more details. |
Updated about 2 months ago