gmapping pacakage Overlaying with catkin workspaces

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Hi,

I have installed ROS groovy version. I want to do changes in gmapping.

Gmapping is using libararies from openslam_gmapping, So i have cloned slam_gmapping and openslam_gmapping separately and built them.

But when i run launch file to run gmapping , i am getting below error

ERROR: cannot launch node of type [gmapping/slam_gmapping]: can't locate node [slam_gmapping] in package [gmapping]

launch file :

<launch> <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" respawn="false" output="screen">   
  <param name="odom_frame" value="odom"/>
  <param name="map_update_interval" value="0.1"/>
  <param name="maxUrange" value="69"/>
  <param name="maxRange" value="71"/>
  <param name="sigma" value="0.05"/>
  <param name="kernelSize" value="1"/>
  <param name="lstep" value="0.05"/>
  <param name="astep" value="0.05"/>
  <param name="iterations" value="5"/>
  <param name="lsigma" value="0.075"/>
  <param name="ogain" value="3.0"/>
  <param name="lskip" value="0"/>
  <param name="srr" value="0.01"/>
  <param name="srt" value="0.02"/>
  <param name="str" value="0.01"/>
  <param name="stt" value="0.02"/>
  <param name="linearUpdate" value="0.2"/>
  <param name="angularUpdate" value="0.3"/>
  <param name="temporalUpdate" value="0.1"/>
  <param name="resampleThreshold" value="5"/>
  <param name="particles" value="10"/>
  <param name="xmin" value="-5.0"/>
  <param name="ymin" value="-5.0"/>
  <param name="xmax" value="5.0"/>
  <param name="ymax" value="5.0"/>
  <param name="delta" value="0.05"/>
  <param name="llsamplerange" value="0.01"/>
  <param name="llsamplestep" value="0.01"/>
  <param name="lasamplerange" value="0.005"/>
  <param name="lasamplestep" value="0.005"/>
  <remap from="scan" to="laserscan"/>
</node>
</launch>

How to do code changes to openslam_gmapping

thanks.