Use request value from list of values in JMeter

I'm sure I've already done this in the past but somehow I cannot figure out how ;-) So, here's my problem:

I'm trying to create a JUnit test plan in which a HTTP request is modified each iteration by altering a specific parameter. So, for example in five iterations I want the following HTTP requests to be made:

http://localhost:8080/test/foo.html?id=1
http://localhost:8080/test/foo.html?id=2
http://localhost:8080/test/foo.html?id=3
http://localhost:8080/test/foo.html?id=4
...

I want to configure the identifier values globally for the test plan and use them within the HTTP request samplerer like this:

Path: /test/foo.html?id=${categoryId}

The question now: How do I configure the identifiers values globally (I do not want to use StringFromFile) and how do I reference them in the sampler?