There are two groupings of configuration files.
The system configuration files are found in
config. These are the files for overall service configuration. These are files whose names end in
.cfg. These files are in Java property file syntax, and define name-value pairs.
The more complex Endpoint and Transport Rules Configuration Files are found in
config/rosapi. These are the file you need to edit to change the input parameters, transport rules, and configuration requirements of the individual endpoints.