How to compile/execute ROS with modified source code

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Good afternoon,

I am in the process of creating a custom version of rosout. I have successfully followed the tutorial to install ros from source, and have a modified version of the rosout.cpp file. I am not sure how to integrate this into ros's prebuilt compiling mechanism "catkin_make_isolated".

What I have:

• makefile(.ccp -> exe)
• rosout.cpp
• rosout.exe

What I need:

A way to permanently integrate the new rosout file into ros. I curretly have a workaround to test, but cannot figure out how to properly add my rosout file to roscore.

Is there a directory that I could just drop the rosout executable into? If I do that are there other variables that need to be set?

Thank you!

Edit: I can place the executable in ~/ros_catkin_ws/install_isolated/lib/rosout/ and everything works fine, but I am looking for the proper method of accomplishing this rather than a workaround. I am guessing there is a makefile/cmakefile but I cannot find the correct one.