Parameter settings
===================

Parameter loading
------------------

All Raisin packages load parameters to determine their configuration. Default
parameter files are stored under ``install/config``. For example, open
``install/config/raisin_gui/config/params.yaml`` to see the parameters for the
Raisin GUI package:

.. code-block:: yaml

   starting_window:
     value: robot_selection
     dtype: string

   network_id:
     value: gui
     dtype: string

   model_name:
     value: gui
     dtype: string

   joy_topic_name:
     value: joy/gui
     dtype: string

   dock_bar:
     value: ["robot_selection", "robot", "robot_dev", "sensor_set_1"]
     dtype: vector<string>

   actuator_hot_criteria:
     value: [61, 64]
     dtype: vector<double>

   threads:
     thread_0:
       value: ['main']
       dtype: vector<string>
     thread_1:
       value: ['surveillance']
       dtype: vector<string>
     thread_2:
       value: ['audio']
       dtype: vector<string>

   scale: 1.0

Try changing ``scale`` to a different number and observe the effect in the GUI.
You can also adjust ``starting_window``, which is set to the robot selection
window by default.

The parameter manager loads these files at runtime. Files under
``install/config`` are defaults, and changes made there are temporary. Running
``raisin setup`` overwrites them with the default parameters stored in the
``release`` directory. This makes them suitable for quick experiments.

For persistent overrides, create your own file at
``$HOME/.raisin/<PACKAGE_NAME>/params.yaml``. The package manager loads the
``install`` parameters first and then overlays values from the file in
``.raisin/<PACKAGE_NAME>``. Your override file does not need to be complete;
define only the keys you want to change. The parameter manager merges your
values with the defaults from the ``install`` directory.