carla/Docs/carla_settings.md

CARLA Settings

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.

1. {CarlaFolder}/Unreal/CarlaUE4/Config/CarlaSettings.ini.
2. File provided by command-line argument -carla-settings="Path/To/CarlaSettings.ini".
3. Other command-line arguments as -carla-server or -world-port.
4. Settings file sent by the client on every new episode.

Take a look at the CARLA Settings example.