In the past few days, I have been investigating ways to better understand what's going on with the AMCL code and I've turned to improving my debugging capabilities.
Turns out, I've been missing out on the ROS_DEBUG messages already being printed by the AMCL node. I have used rqt before to view bag files' contents, but it turns out that if you open the tool with some special options, it lets you view the message channels, too.
More info here:
http://wiki.ros.org/ROS/Tutorials/UsingRqtconsoleRoslaunch
Another thing I started reading about was getting an IDE around ROS code so that I can put in breakpoints and step through the code. There are some tools that are new to me, and tools that I recognized, like Visual Studio Code or Eclipse. Unfortunately, they ALL look really complicated.
More info here:
http://wiki.ros.org/IDEs
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