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When I run sshmenu and try to connect to a ssh server I get

$SSH_AUTH_SOCK is not set. Is the ssh-agent running?

If I run ssh-agent I see the $SSH_AUTH_SOCK variable.

How can I make it work ?

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Running "ssh-agent" doesn't set any variables, because a process cannot modify the environment of any other process; so the program just outputs sh-compatible commands to stdout, intended to be eval'd.

eval $(ssh-agent)
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