BaxterInterface/asift_matching/launch/asift_match.launch

<launch>
	<!--Matcher Parameters/-->
	<param name="tracked_object" value="6DOF"/>
	<param name="num_tilt" type="int" value="2"/>
	<param name="std_dev_filter_coeff" type="double" value="2"/>
	<!--Matcher References/-->
	<param name="reference_path" value="$(find asift_matching)/reference_data/"/>
	<param name="reference_txt_path" value="$(find asift_matching)/reference_data/book_references.txt"/>
	<rosparam param="reference_data">[
        "train_image_000.png", 
        "train_image_001.png"]
        </rosparam>

	<!--Topics/-->
	<param name="object_center_topic" value="/object_center"/>
	<param name="image_topic" value="/camera/rgb/image_raw"/>
	<param name="pointcloud_topic" value="/camera/depth_registered/points"/>

	<node name="ASIFT_matching" pkg="asift_matching" type="ASIFT_matcher" output="screen"/>
</launch>