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The code I posted is supposed to work.

rcl_logging_rosout_output_handler is marked as RCL_PUBLIC, but it was not accessible due to a bug addressed by this PR https://github.com/ros2/rcl/pull/478

rcl_logging_rosout_init should be marked with RCL_PUBLIC too since otherwise the handler is useless. https://github.com/ros2/rcl/pull/479

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