refactor(log): 日志文案改 ASCII 英文，修 ROS_INFO 中文乱码

ROS_INFO/WARN/ERROR 走的不是 printf，而是 rosconsole -> log4cxx，后者按进程当前的
C 语言环境对消息做一次窄/宽字符转码。节点从未调用 setlocale，LC_CTYPE 停在默认的
"C"（ASCII），于是非 ASCII 的每个字节被替换成一个 '?'——一个汉字 3 字节正好 3 个
'?'。而 [config] 摘要那条 std::cout 路径直接写字节、不转码，所以之前只有 ROS_* 的
日志乱码。备选方案是 setlocale(LC_CTYPE, "")（3 行即可修），这里采用"运行时输出一律
英文"：英文日志不依赖语言环境，systemd/robot_upstart 拉起时也不会因缺 LANG 复发。

改动与校验：
- invicta_hardware / invicta_remote / invicta_deploy / invicta_msgs 共 20 个文件、
  202 处字符串字面量改为 ASCII 英文。中文代码注释、标识符、话题名、JSON/TOML 键名、
  日志前缀一律未动（把字面量内容挖空后与改前做骨架比对，20 个文件零差异）。
- printf 格式说明符（%s/%d/%zu/%.1f/%02X ...）的数量、类型、顺序逐文件与改前一致。
- 顺带 ASCII 化非中文字符：° -> deg、± -> +/-、× -> x、→ -> ->、框线 -> "+==+"，
  并修正了启动横幅框线宽度差 2 列的问题。
- motion_defs.h 的 GaitName / MotionParamName 显示名改英文（只用于日志与回包文案）；
  协议字段仍传整数（bs["MotionState"] = int(...)），不影响上位机协议。

注意：invicta_remote 回给手柄的 Unsupported / "Not allowed operation" 文案也变为英文，
会出现在上位机错误列表里。

已在 SBC（aarch64, Noetic）编译确认。

src/invicta_deploy/interface/robot/hardware/invicta_interface.hpp

@@ -34,7 +34,7 @@ public:
     InvictaInterface(const std::string& robot_name, int dof_num)
         : RobotInterface(robot_name, dof_num), cfg_(invicta::Config()) {
         if (dof_num_ != cfg_.dof) {
-            ROS_WARN("[InvictaInterface] 传入 dof=%d 与配置的 %d 不一致，按配置执行", dof_num_, cfg_.dof);
+            ROS_WARN("[InvictaInterface] passed dof=%d does not match configured %d, using config value", dof_num_, cfg_.dof);
         }
         joint_pos_ = VecXf::Zero(dof_num_);
         joint_vel_ = VecXf::Zero(dof_num_);
@@ -58,7 +58,7 @@ public:
         SendStartupSequence();
         std::cout << "[InvictaInterface] topics: " << cfg_.topic_joint_states << " / " << cfg_.topic_imu << " -> "
                   << cfg_.topic_joint_commands << std::endl;
-        std::cout << "[InvictaInterface] 模型帧透传：dir/offset 由 invicta_hardware 施加" << std::endl;
+        std::cout << "[InvictaInterface] model frame passthrough: dir/offset applied by invicta_hardware" << std::endl;
     }
 
     virtual void Stop() {}
@@ -124,21 +124,21 @@ protected:
             ros::Duration(0.01).sleep();
         }
         if (cmd_pub_.getNumSubscribers() == 0) {
-            std::cout << "[InvictaInterface] 警告：joint_commands 还没有订阅者，启动时序可能丢失" << std::endl;
+            std::cout << "[InvictaInterface] warning: joint_commands has no subscribers yet, startup sequence may be lost" << std::endl;
         }
         const uint16_t seq[] = {invicta_msgs::kDisable, invicta_msgs::kErrorReset, invicta_msgs::kEnable};
         for (uint16_t word : seq) {
             PublishRawCommand(word);
             ros::Duration(0.01).sleep();
         }
-        std::cout << "[InvictaInterface] 启动控制序列完成 (disable -> error_reset -> enable)" << std::endl;
+        std::cout << "[InvictaInterface] startup control sequence complete (disable -> error_reset -> enable)" << std::endl;
     }
 
     // ------------------------------------------------------------------ 回调
     void JointStateHandler(const sensor_msgs::JointState::ConstPtr& msg) {
         const size_t n = size_t(dof_num_);
         if (msg->position.size() != n || msg->velocity.size() != n || msg->effort.size() != n) {
-            ROS_WARN_THROTTLE(5.0, "[InvictaInterface] %s 长度应为 %d，收到 pos=%zu vel=%zu eff=%zu，丢帧",
+            ROS_WARN_THROTTLE(5.0, "[InvictaInterface] %s length should be %d, got pos=%zu vel=%zu eff=%zu, dropping frame",
                               cfg_.topic_joint_states.c_str(), dof_num_, msg->position.size(), msg->velocity.size(),
                               msg->effort.size());
             return;
@@ -159,11 +159,11 @@ protected:
         }
         if (!by_name && !warned_name_mismatch_) {
             warned_name_mismatch_ = true;
-            ROS_WARN("[InvictaInterface] %s 未按约定给出 %d 个 name，按数组下标解析",
+            ROS_WARN("[InvictaInterface] %s did not provide the agreed %d names, resolving by array index",
                      cfg_.topic_joint_states.c_str(), dof_num_);
         }
         if (unknown > 0) {
-            ROS_WARN_THROTTLE(5.0, "[InvictaInterface] %s 有 %d 个关节名不认识，已忽略",
+            ROS_WARN_THROTTLE(5.0, "[InvictaInterface] %s has %d unknown joint names, ignored",
                               cfg_.topic_joint_states.c_str(), unknown);
         }
 
@@ -182,7 +182,7 @@ protected:
         if (msg->orientation_covariance[0] == -1.0) {
             if (!warned_imu_no_orientation_) {
                 warned_imu_no_orientation_ = true;
-                ROS_WARN("[InvictaInterface] %s 没有提供 orientation（covariance=-1），姿态观测无效",
+                ROS_WARN("[InvictaInterface] %s did not provide orientation (covariance=-1), attitude observation invalid",
                          cfg_.topic_imu.c_str());
             }
             return;
@@ -190,7 +190,7 @@ protected:
         Eigen::Quaternionf q(float(msg->orientation.w), float(msg->orientation.x), float(msg->orientation.y),
                              float(msg->orientation.z));
         if (q.norm() < 1e-6f) {
-            ROS_WARN_THROTTLE(5.0, "[InvictaInterface] %s 四元数模长近零，忽略该帧", cfg_.topic_imu.c_str());
+            ROS_WARN_THROTTLE(5.0, "[InvictaInterface] %s quaternion norm near zero, ignoring this frame", cfg_.topic_imu.c_str());
             return;
         }
         q.normalize();