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In the node definition, you can set the output to screen: <node pkg="amcl" type="amcl" name="amcl" output="screen"> for example. That will get the output pushed to your console.

You can also often find the information you're looking for through the rxconsole program. It's nice for separating the output from the many nodes that are launched, as well as displaying based on severity (warnings, errors, debugs).