​
Initialize a Config Instance

Include the config instance header. 
#include "miru/configs/instance.hpp"
Retrieve the config instance from a file on the local filesystem.
auto config_instance = miru::config::ConfigInstance::from_file(
    "local/filesystem/path/to/config/schema.yaml",
    "local/filesystem/path/to/config/instance.yaml"
);

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Get a Parameter

To retrieve a parameter within a config instance, simply specify the parameter’s path. A parameter’s path is a dot-separated list of keys starting with the config type slug. Say we have the following config schema and config instance. 
...
joint-1:
  ...
  position:
    x: 1.0
    ...
The parameter’s path is motion-control.joint-1.position.x, which follows the format <config-type-slug>.<config-instance-parameter-path>. The default method for retrieving a parameter is the get_param function. However, if you’re coming from ROS2, you may prefer the get_parameter function from the ROS2 wrapper. 
#include "miru/query/query.hpp"

...

auto param = miru::config::query::get_param(
    // the config instantiated as shown above
    config_instance,
    // "<config-type-slug>.<config-instance-parameter-path>"
    "motion-control.joint-1.position.x"
);

// instantiate the parameter's value with it's appropriate type
float x = param.get<float>();