CARLA reads its settings from a "CarlaSettings.ini" file. This file controls most aspects of the simulation, and it is loaded every time a new episode is started (every time the level is loaded).
Settings are loaded following the next hierarchy, with values later in the hierarchy overriding earlier values.
- File provided by command-line argument
- Other command-line arguments as
- Settings file sent by the client on every new episode.
Take a look at the CARLA Settings example.