added debug launch file, added state augmentation, added jakobi concat; resulting jakobis do not pass gating test

include/msckf_vio/feature.hpp

@@ -496,7 +496,7 @@ bool Feature::initializeAnchor(
 
   //initialize patch Size
   //TODO make N size a ros parameter
-  int N = 3;
+  int N = 13;
   int n = (int)(N-1)/2;
 
   auto anchor = observations.begin();