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I was going about this the wrong way. One thing I learned is that my comments in the code (which I wasn't seeing on the screen initially) WERE being published, but I had to add "--screen" to see my comments. roslaunch turtlebot_gazebo amcl_demo.launch (map file path) --screen

Another thing I learned is that by sourcing the overlay folder, I was adding my custom AMCL to the front of the classpath, and the overlay was being used the whole time. I discovered this by adding a custom message to the class, and then seeing what was published when I ran AMCL via "rostopic list".

So. To do an overlay: 1. Make a workspace/package and get the code from GitHub 2. Edit your code how you want, add messages, etc. 3. Do "source <path to="" workspace="">/devel/setup.bash>" 4. Run your normal launch file. When the launch file looks for a package in the classpath, it will find your overlay (as long as you 'source' beforehand within the same terminal.)

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I was going about this the wrong way. One thing I learned is that my comments in the code (which I wasn't seeing on the screen initially) WERE being published, but I had to add "--screen" --screen to see my comments. comments:

roslaunch turtlebot_gazebo amcl_demo.launch (map file path) --screen

--screen

Another thing I learned is that by sourcing the overlay folder, I was adding my custom AMCL to the front of the classpath, and the overlay was being used the whole time. I discovered this by adding a custom message to the class, and then seeing what was published when I ran AMCL via "rostopic list".rostopic list.

So. To do an overlay: 1. overlay:

  1. Make a workspace/package and get the code from GitHub 2. GitHub
  2. Edit your code how you want, add messages, etc. 3. etc.
  3. Do "source source <path to="" workspace="">/devel/setup.bash>" 4. to workspace>/devel/setup.bash
  4. Run your normal launch file. file.

When the launch file looks for a package in the classpath, it will find your overlay (as long as you 'source' beforehand within the same terminal.)