Determine best way to do logging

[TimWhiting]

I'm currently using the logger package, but wonder if it would be better to use the logging package. Logger gives nice colored output on the terminal, but is a little opinionated, and noisy.

Also, I need to determine if logging is working properly for the ros logs.

Additional features of logging that aren't implemented is a way to publish to some logging topics to set the log level via ros topics. I'm not sure if this is widely used so I left it out currently.

Default log level maybe needs to be looked at, and for testing I should change the default log level to expose more logs while trying to track down problems.