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:

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.