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You should source setup.bash of the original workspace before building the overlay workspace. Once you have built the overlay workspace, you should be able to source setup.bash, which will chain the underlay and the overlay together.
From the ament documentation:
The different shell scripts in the root of the install space are generated by the ament tool. The local_setup.* files only iterate over all packages in the install space (by reading the list of packages in the ament index) and source their package specific setup files. The setup.* files also consider workspaces outside of this install space (by reading the list of parent_prefixp_path in the ament index) and source them before the local_setup.* files.
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