$ aws cloudformation get-template-summary --template-body file://template.yml > /path/to/summary.json
$ node index.js < /path/to/summary.json > /path/to/resources.json
Fill in the missing values in your the output file and import it.
$ aws cloudformation create-change-set \
--stack-name stack-name \
--change-set-name import \
--change-set-type IMPORT \
--resources-to-import file:///path/to/resources.json \
--template-body file:///path/to/template.yml