feat: replace stdlib logging with hivecore_logger SDK

- Import hivecore_logger alongside stdlib logging
- Replace _setup_file_logging() with hivecore_logger.init() using
  node_name='ctrlgui', log_dir from ROS2 param log_base_dir,
  enable_signal_handlers=False and enable_auto_shutdown_hook=False
  to avoid conflicts with NiceGUI/ROS2 lifecycle
- Obtain logger instance via hivecore_logger.get_logger(); all
  existing self.file_logger call sites (info/warning/error) unchanged
- Add hivecore_logger.stop() in shutdown() to flush async log queue
- Update default log_base_dir parameter to /var/log/robot
- Log output format: [timestamp] [LEVEL] [ctrlgui] [thread] [file:line] msg
  written to <log_dir>/<YYYYMMDD>/ctrlgui.log with console echo

config/ctrlgui.yaml

@@ -0,0 +1,33 @@
+ctrlgui_node:
+  ros__parameters:
+    collection_enabled: false
+    data_base_dir: "/home/demo/hivecore_robot_os1/data"
+    log_base_dir: "/var/log/robot"
+    queue_size: 10
+    action_server_wait_timeout_sec: 1.0
+    work_info_log_throttle_sec: 1.0
+    joint_state_log_throttle_sec: 1.0
+    work_info_log_every_n: 100
+    bt_xml_log_max_len: 100
+    ui_update_period_sec: 0.5
+    host: "0.0.0.0"
+    port: 8080
+
+    topic_led_cmd: "/led_cmd"
+    service_rebuild_now: "/cerebrum/rebuild_now"
+    topic_robot_work_info: "/robot_work_info"
+    action_execute_bt: "/execute_bt_action"
+    topic_joint_states: "/joint_states"
+    action_gripper0_cmd: "/gripper_cmd0"
+    action_gripper1_cmd: "/gripper_cmd1"
+    topic_gripper0_status: "/gripper0/status"
+    topic_gripper1_status: "/gripper1/status"
+    topic_arm_errors: "/arm_errors"
+    service_clear_arm_error: "clear_arm_error"
+
+    topic_top_color: "/camera/color/image_raw"
+    topic_top_depth: "/camera/depth/image_raw"
+    topic_left_color: "/camera1/camera1/color/image_raw"
+    topic_left_depth: "/camera1/camera1/depth/image_rect_raw"
+    topic_right_color: "/camera2/camera2/color/image_raw"
+    topic_right_depth: "/camera2/camera2/depth/image_rect_raw"

launch/ctrlgui.launch.py

@@ -2,6 +2,8 @@ from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+import os
 
 
 def generate_launch_description() -> LaunchDescription:
@@ -15,8 +17,12 @@ def generate_launch_description() -> LaunchDescription:
     port_arg = DeclareLaunchArgument(
         'port', default_value='8080',
         description='TCP port for NiceGUI')
+    params_file_arg = DeclareLaunchArgument(
+        'params_file',
+        default_value=os.path.join(get_package_share_directory('ctrlgui'), 'config', 'ctrlgui.yaml'),
+        description='Path to the ctrlgui parameter file')
 
-    ld = LaunchDescription([node_name_arg, host_arg, port_arg])
+    ld = LaunchDescription([node_name_arg, host_arg, port_arg, params_file_arg])
 
     ctrlgui_node = Node(
         package='ctrlgui',
@@ -24,11 +30,13 @@ def generate_launch_description() -> LaunchDescription:
         name=LaunchConfiguration('node_name'),
         output='screen',
         emulate_tty=True,
-        parameters=[],
-        env={
-            'HOST': LaunchConfiguration('host'),
-            'PORT': LaunchConfiguration('port'),
-        },
+        parameters=[
+            LaunchConfiguration('params_file'),
+            {
+                'host': LaunchConfiguration('host'),
+                'port': LaunchConfiguration('port'),
+            },
+        ],
     )
 
     ld.add_action(ctrlgui_node)

setup.py

@@ -17,6 +17,7 @@ setup(
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
         ('share/' + package_name + '/launch', ['launch/ctrlgui.launch.py']),
+        ('share/' + package_name + '/config', ['config/ctrlgui.yaml']),
         # Install top-level static assets into share for runtime serving
         ('share/' + package_name + '/static', [
             *glob(os.path.join('static', '*'))