refactor(cie): restructure thread_configurator into ROS-param-based nodes

[atsushi421]

Description

Port the structural changes from autowarefoundation/agnocast#1234 to cie_thread_configurator, moving from a bespoke CLI-based interface to a ROS-parameter / launch-file friendly layout.

What changed

• prerun_node is now its own executable. It used to be selected from thread_configurator_node via --prerun. A dedicated src/prerun_node_main.cpp spins the node and calls dump_yaml_config(std::filesystem::current_path()) on shutdown. PrerunNode's constructor now takes const rclcpp::NodeOptions &, matching the upstream signature as a preparation step toward future composability (no rclcpp_components registration is added in this PR).
• thread_configurator_node reads its YAML path from a ROS parameter. ThreadConfiguratorNode declares a config_file parameter, loads the YAML, and performs hardware validation inside its constructor. On failure it throws std::runtime_error (missing parameter, bad file path, or hardware mismatch), which main catches to exit with code 1 and a [ERROR] ... message. It also logs Loaded config from: <path> on success. Like PrerunNode, its constructor now accepts rclcpp::NodeOptions, again as a structural preparation (no components registration added here).
• src/main.cpp is renamed to src/thread_configurator_node_main.cpp (via git mv) so the file name mirrors prerun_node_main.cpp and removes the ambiguous top-level main.cpp. CLI parsing, validate_hardware_info, and spin_prerun_node are removed; the existing spin_once() + all_applied() + apply_deadline_configs / exist_deadline_config interactive flow is preserved unchanged.
• New canonical launch file launch/thread_configurator.launch.xml with two args: prerun (bool, default false) and config_file (string, default ""). if/unless switch between prerun_node and thread_configurator_node. Installed under share/cie_thread_configurator/launch/ via CMake.
• README usage examples updated to ros2 run cie_thread_configurator prerun_node and ros2 run cie_thread_configurator thread_configurator_node --ros-args -p config_file:=..., with the launch-file alternatives added.

Design decisions / scope

• No backward compatibility for the removed --prerun / --config-file CLI flags — the old invocation just fails, no deprecation warning is emitted.

Related links

• Ports refactor(thread_configurator): split into separate executables and use ROS parameters agnocast#1234

How was this PR tested?

• Format (pre-commit run --all-files)
• Build (colcon build)
• Test with cie_sample_application

Notes for reviewers

[Copilot]

Pull request overview

Refactors cie_thread_configurator to be ROS-parameter / launch-file driven by splitting the previous CLI-driven “prerun vs configurator” behavior into two dedicated executables and moving config selection to a config_file ROS parameter.

Changes:

• Split prerun_node into its own executable (prerun_node_main.cpp) and executable target.
• Update thread_configurator_node to load YAML from a config_file ROS parameter and perform hardware validation in-node.
• Add an XML launch file to switch between prerun_node and thread_configurator_node, and update install rules + README usage.

Reviewed changes

Copilot reviewed 10 out of 10 changed files in this pull request and generated 2 comments.

Show a summary per file

File	Description
README.md	Updates usage examples to new executables and ROS parameter-based invocation.
cie_thread_configurator/src/thread_configurator_node.cpp	Moves YAML loading + hardware validation into the node constructor.
cie_thread_configurator/src/thread_configurator_node_main.cpp	New dedicated main for thread_configurator_node with exception handling.
cie_thread_configurator/src/prerun_node.cpp	Updates PrerunNode ctor to accept rclcpp::NodeOptions.
cie_thread_configurator/src/prerun_node_main.cpp	New dedicated main for prerun_node that dumps YAML on shutdown.
cie_thread_configurator/src/main.cpp	Removes old combined CLI-based entrypoint.
cie_thread_configurator/launch/thread_configurator.launch.xml	Adds canonical launch file with prerun and config_file args.
cie_thread_configurator/include/cie_thread_configurator/thread_configurator_node.hpp	Updates ctor signature + adds doc about param-based config loading.
cie_thread_configurator/include/cie_thread_configurator/prerun_node.hpp	Updates ctor signature to accept rclcpp::NodeOptions.
cie_thread_configurator/CMakeLists.txt	Builds/installs two executables and installs launch files.

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