diff --git a/svo_ros/launch/test_rig3.launch b/svo_ros/launch/test_rig3.launch
index d03359f..31b85f4 100644
--- a/svo_ros/launch/test_rig3.launch
+++ b/svo_ros/launch/test_rig3.launch
@@ -1,16 +1,21 @@
 <launch>
-  <node pkg="svo_ros" type="vo" name="svo" clear_params="true" launch-prefix="gdb -ex run --args" output="screen"> 
+
+  <node pkg="svo_ros" type="vo" name="svo" clear_params="true" output="screen">
+
+  	<!-- Camera topic to subscribe to -->
     <param name="cam_topic" value="/camera/image_raw" type="str" />
-    <param name="cam_model" value="ATAN" type="str" />
-    <param name="cam_width" value="752" />
-    <param name="cam_height" value="480" />
-    <param name="cam_fx" value="0.509326" />
-    <param name="cam_fy" value="0.796651" />
-    <param name="cam_cx" value="0.459051" />
-    <param name="cam_cy" value="0.510056" />
-    <param name="cam_d0" value="0.93207" />
-    <param name="init_rx" value="3.14" />
+    
+    <!-- Camera calibration file -->
+    <rosparam file="$(find svo_ros)/param/camera_atan.yaml" />
+
+    <!-- Default parameter settings -->
     <rosparam file="$(find svo_ros)/param/vo_fast.yaml" />
+    
+    <!-- Initial camera orientation, make it point downwards -->
+    <param name="init_rx" value="3.14" />
+
   </node>
+
   <node name="svo_ros_rviz" pkg="rviz" type="rviz" args=" -d $(find svo_ros)/rviz_config.rviz" /> 
+
 </launch>