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README.md

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arcor2_arserver

Environment variables

  • ARCOR2_ARSERVER_PORT=6789 - by default, the service will listen on port 6789.
  • ARCOR2_STREAMING_PERIOD=0.1 - controls the period of streaming a robot's EEF poses and joints.

Caching

  • ARCOR2_ARSERVER_CACHE_TIMEOUT=1.0 - by default, ARServer checks for changes in scenes, projects or ObjectTypes max. once per second.
  • ARCOR2_ARSERVER_CACHE_SCENES=32 - by default, ARServer keeps 32 last used scenes in its cache.
  • ARCOR2_ARSERVER_CACHE_PROJECTS=64 - by default, ARServer keeps 64 last used projects in its cache.
  • ARCOR2_ARSERVER_CACHE_OBJECT_TYPES=32 - by default, ARServer keeps 64 last used ObjectTypes in its cache.

Resources locking

  • ARCOR2_ARSERVER_LOCK_TIMEOUT=300 - if a user do not log again within this timeout (in seconds), their locks are discarded.
    • Can be used to workaround 'Locking failed' issues - if set to some low value, it is sufficient to log out and after the locks got discarded, log in again.
  • ARCOR2_ARSERVER_LOCK_RETRIES=13 - number of retries when trying to acquire the global lock.
  • ARCOR2_ARSERVER_LOCK_RETRY_WAIT=0.15 - controls how long to wait between attempts to get the global lock.

Debugging

  • ARCOR2_MAX_RPC_DURATION=0.1 - by default, a warning is emitted when any RPC call takes longer than 0.1 second.
  • ARCOR2_ARSERVER_DEBUG=1 - switches logger to the DEBUG level.
  • ARCOR2_ARSERVER_ASYNCIO_DEBUG=1 - turns on asyncio debug output (helpful to debug problems related to concurrency).
  • ARCOR2_REST_DEBUG=1 - may be used to debug problems related to communication with the Project, Scene Build and Calibration services.