Hotfix/improve logs

[PastorD]

bump:minor

elevate c prints from jsd to ros2 logs, so

• they are saved in /rosout
• they are saved in corresponding file log
• severity can be controlled before launch, and at runtime (with a gate to compile out severity for logs in hot path)
• logs can be throttled. Without it, any error becomes a waterfall of red text. Default config is to throttle at 1Hz.

@willreid-jpl @JosephBowkett @preston-rogers @kwehage This recovers fcat-casah capability to show jsd logs as ros logs, but without making them EVRs

Example what it showed before in log file:

[INFO] [1788287906.148899198] [fcat.fcat]: loading Yaml from /home/tnet/astrobud-testbed/install/astrobud_bringup/share/astrobud_bringup/config/fcat_offline.yaml
[INFO] [1788287906.155357073] [fcat.fcat]: Populating device_name_state_map_[arm_joint_1]
[INFO] [1788287906.155377901] [fcat.fcat]: counts[9] = 1
[INFO] [1788287906.155382315] [fcat.fcat]: Populating device_name_state_map_[arm_joint_2]
[INFO] [1788287906.155386869] [fcat.fcat]: counts[9] = 2
[INFO] [1788287906.155389938] [fcat.fcat]: Populating device_name_state_map_[arm_joint_3]
[INFO] [1788287906.155392848] [fcat.fcat]: counts[9] = 3
[INFO] [1788287906.155395717] [fcat.fcat]: Populating device_name_state_map_[arm_joint_4]
[INFO] [1788287906.155398544] [fcat.fcat]: counts[9] = 4
[INFO] [1788287906.155401419] [fcat.fcat]: Populating device_name_state_map_[arm_joint_5]
[INFO] [1788287906.155404939] [fcat.fcat]: counts[9] = 5
[INFO] [1788287906.155408438] [fcat.fcat]: Populating device_name_state_map_[arm_joint_6]
[INFO] [1788287906.155411342] [fcat.fcat]: counts[9] = 6
[INFO] [1788287906.155414277] [fcat.fcat]: Populating device_name_state_map_[arm_joint_7]
[INFO] [1788287906.155417128] [fcat.fcat]: counts[9] = 7
[INFO] [1788287906.155420063] [fcat.fcat]: Populating device_name_state_map_[fts_1]
[INFO] [1788287906.155423330] [fcat.fcat]: counts[8] = 1
[INFO] [1788287906.155426244] [fcat.fcat]: Populating device_name_state_map_[fun_1]
[INFO] [1788287906.155429237] [fcat.fcat]: counts[2] = 1
[INFO] [1788287906.155432172] [fcat.fcat]: Populating device_name_state_map_[fun_2]
[INFO] [1788287906.155436694] [fcat.fcat]: counts[2] = 2
[INFO] [1788287906.155439639] [fcat.fcat]: Populating device_name_state_map_[sig_gen_1]
[INFO] [1788287906.155442780] [fcat.fcat]: counts[1] = 1
[INFO] [1788287906.155445657] [fcat.fcat]: Populating device_name_state_map_[sig_gen_2]

It does not show all jsd initialization.

Example what it shows now now in both terminal and log file

tnet@astrobud-ops:~/astrobud-testbed$ ros2 launch astrobud_bringup fcat.launch.py online:=False                                                                         
[INFO] [launch]: All log files can be found below /home/tnet/.ros/log/2026-09-01-14-39-19-817640-astrobud-ops-3441644                                                   
[INFO] [launch]: Default logging verbosity is set to INFO                                                                                                               
[INFO] [fcat_node-1]: process started with pid [3441647]                                                                                                                
[INFO] [fcat_services-2]: process started with pid [3441648]                                                                                                            
[INFO] [relay-3]: process started with pid [3441649]                                                                                                                    
[fcat_node-1] [INFO] [1788298759.880831965] [fcat.fcat]: loading Yaml from /home/tnet/astrobud-testbed/install/astrobud_bringup/share/astrobud_bringup/config/fcat_offli
ne.yaml                                                                                                                                                                 
[fcat_node-1] [INFO] [1788298759.883703135] [fcat.fcat]: (jsd_device_base.cc:41) Setting JSD device  to offline-mode                                                    
[fcat_node-1] [INFO] [1788298759.883817569] [fcat.fcat]: (actuator.cc:213) Overall Reduction: 3972507.379574                                                            
[fcat_node-1] [INFO] [1788298759.883835555] [fcat.fcat]: (jsd_device_base.cc:41) Setting JSD device  to offline-mode                                                    
[fcat_node-1] [INFO] [1788298759.883927564] [fcat.fcat]: (actuator.cc:213) Overall Reduction: 3972507.379574                                                            
[fcat_node-1] [INFO] [1788298759.883942640] [fcat.fcat]: (jsd_device_base.cc:41) Setting JSD device  to offline-mode                                                    
[fcat_node-1] [INFO] [1788298759.884033282] [fcat.fcat]: (actuator.cc:213) Overall Reduction: 3972507.379574                                                            
[fcat_node-1] [INFO] [1788298759.884046100] [fcat.fcat]: (jsd_device_base.cc:41) Setting JSD device  to offline-mode                                                    
[fcat_node-1] [INFO] [1788298759.884140335] [fcat.fcat]: (actuator.cc:213) Overall Reduction: 3972507.379574                                                            
[fcat_node-1] [INFO] [1788298759.884152292] [fcat.fcat]: (jsd_device_base.cc:41) Setting JSD device  to offline-mode                                                    
[fcat_node-1] [INFO] [1788298759.884243183] [fcat.fcat]: (actuator.cc:213) Overall Reduction: 3972507.379574                                                            
[fcat_node-1] [INFO] [1788298759.884255515] [fcat.fcat]: (jsd_device_base.cc:41) Setting JSD device  to offline-mode                                                    
[fcat_node-1] [INFO] [1788298759.884346105] [fcat.fcat]: (actuator.cc:213) Overall Reduction: 3972507.379574                                                            
[fcat_node-1] [INFO] [1788298759.884359062] [fcat.fcat]: (jsd_device_base.cc:41) Setting JSD device  to offline-mode                                                    
[fcat_node-1] [INFO] [1788298759.884450032] [fcat.fcat]: (actuator.cc:213) Overall Reduction: 1304866.369578                                                            
[fcat_node-1] [INFO] [1788298759.884462280] [fcat.fcat]: (jsd_device_base.cc:41) Setting JSD device  to offline-mode                                                    
[fcat_node-1] [INFO] [1788298759.884554876] [fcat.fcat]: (actuator.cc:213) Overall Reduction: 1148031.504000                                                            
[fcat_node-1] [INFO] [1788298759.884562487] [fcat.fcat]: (manager.cc:241) SUCCESS: Added 15 devices to map                                                              
[fcat_node-1] [INFO] [1788298759.884567534] [fcat.fcat]: (manager.cc:243) JSD device list entries:                                                                      
[fcat_node-1] [INFO] [1788298759.884571889] [fcat.fcat]: (manager.cc:245)      arm_joint_1                                                                              
[fcat_node-1] [INFO] [1788298759.884577200] [fcat.fcat]: (manager.cc:245)      arm_joint_2                                                                              
[fcat_node-1] [INFO] [1788298759.884581462] [fcat.fcat]: (manager.cc:245)      arm_joint_3                                                                              
[fcat_node-1] [INFO] [1788298759.884585647] [fcat.fcat]: (manager.cc:245)      arm_joint_4                                                                              
[fcat_node-1] [INFO] [1788298759.884589934] [fcat.fcat]: (manager.cc:245)      arm_joint_5                                                                              
[fcat_node-1] [INFO] [1788298759.884595527] [fcat.fcat]: (manager.cc:245)      arm_joint_6                                                                              
[fcat_node-1] [INFO] [1788298759.884599717] [fcat.fcat]: (manager.cc:245)      arm_joint_7                                                                              
[fcat_node-1] [INFO] [1788298759.884603841] [fcat.fcat]: (manager.cc:245)      tga          

See side by side in an online run in astrobud, showing this PR shows jsd logs to both terminal and logs

[JosephBowkett]

Looks good to me, definitely want to be mapping print statements to the rclcpp functions