Use console output formatting. You can set that one time on the command line or add it to your ~/.bashrc file. For robot_upstart you might have to add it in a separate spot or make sure you are using the .bashrc of the appropriate user. To get the node name, log level, time and message you could have something like:
export ROSCONSOLE_FORMAT='[${severity}] -${node}: [${time}]${message}'