Heex Kernel uses one main configuration file: the Core.json.

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Most commonly used configuration parameters

  • log_level: used to define the log level. Possible values: “default”, “info”, “warning”, “error”, “critical”.
  • connectivity_mode: See section * Runtime Configuration.
  • enable_agent_ota_update: can be used to disable the Agent OTA update.
  • enable_system_configuration_ota_update: can be used to disable the system configuration OTA update.
  • ros_recording_default_format: default format used for ROS bag recording. Possible values: ROS2_BAG_STORAGE_TYPE_AUTOMATIC (for ROS2 Galactic & Humble it will be SQLITE3, and MCAP for the versions above), ROS2_BAG_STORAGE_TYPE_SQLITE3 or ROS2_BAG_STORAGE_TYPE_MCAP.

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Detailed configuration parameters

  • heex_core_com_port: TCP communication port used between internal Heex Agent.
  • enable_telemetry: can be used to active telemetry service (for example get information about RAM and CPU usage of Heex Agent and implementations).
  • metrics_exporter_endpoint: endpoint address to export the telemetry information.
  • skip_ssl_revoke_check: can be used to force to skip SSL revoke check.
  • remove_generated_event_recording_archive: indicate if the events recordings archive must be removed after upload.
  • upload_no_progress_timeout: timeout value (in seconds) for event upload (the upload will fail if no progress occurs during this interval).
  • remove_recorder_event_recordings: indicate if the events recordings folder must be removed after upload.
  • recordings_folder_path: folder path to store the recordings.
  • poll_interval_seconds: interval (in seconds) between each Heex Agent update.

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Runtime Configuration

Recognizing that implementations might operate in areas with limited or no connectivity, the Heex Heex Kernel offers several modes to accommodate different connectivity scenarios. The connectivity mode can be changed from the Cloud interface.

Here are the available modes:

  • Full Connectivity Mode (default): The Heex Kernel runs expecting good connectivity and shall upload both recording and metadata of any generated event. This is the default mode of operation.
  • Limited Upload Mode: In this mode, only metadata is uploaded, which requires minimal connectivity. This mode is ideal for environments with limited connectivity, yet where real-time event notifications are still desired. Recordings are stored locally for later upload.
  • No Connectivity Mode: The Heex Kernel operates without any connectivity. Events metadata and recordings are stored locally for future upload.