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The parameters are stored in the YAML format in the file parameters.yaml in the directory of the LCC. Some parameters are distributed on program startup, these must be either edited in the LCC before restarting it, or they can be edited manually by changing the content of the YAML file:
Six different parameter types can be defined - bool, integer, double and string as well as comma-separated lists of integers and doubles. The parameters consist of a name (e.g. trajectory_controller/lateral_D_gain), a value (or set of values) and an information string that can be used to describe the purpose of the parameter.
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Setting Parameters in the GUI
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Parameters are shown in the LCC UI in the parameters tab. This UI simplifies the editing process of the available parameters - they can be deleted or changed, and new parameters can be created as well using the UI tools. Thus, if desired, the YAML file does not need to be used explicitly.
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Reload can be used to reload the currently selected file - this overwrites any unsaved changes made in between.
Load can be used to load a new file.
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