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My problem is I find the log code for example like below, but none of the log show in terminal, there any setup that I need to configure to make the log show into the terminal?

This is probably due to not having this output={"stdout": "screen","stderr": "screen",}, (I think the short version is `output="both") in your launch file, for all nodes you want to have in the terminal output.

Example:

Node(
    package="controller_manager",
    executable="ros2_control_node",
    parameters=[robot_description, controller_config_path],
    output={
        "stdout": "screen",
        "stderr": "screen",
    },
    condition=UnlessCondition(use_sim),
),

I have notice by change the code in ros2_control_demo_hardware/src/diffbot_system.cpp:- comment the code in read and write function did not give any effect to it.....

This is either, because you didn't see the output, because of the problem above, or you maybe didn't compile? I don't really know.

What exactly do you mean by "I can control the robot in rviz?" Do the wheel joints move in rviz and not on the real robot?

My problem is I find the log code for example like below, but none of the log show in terminal, there any setup that I need to configure to make the log show into the terminal?

This is probably due to not having this output={"stdout": "screen","stderr": "screen",}, (I think the short version is `output="both") output="both") in your launch file, for all nodes you want to have in the terminal output.

Example:

Node(
    package="controller_manager",
    executable="ros2_control_node",
    parameters=[robot_description, controller_config_path],
    output={
        "stdout": "screen",
        "stderr": "screen",
    },
    condition=UnlessCondition(use_sim),
),

I have notice by change the code in ros2_control_demo_hardware/src/diffbot_system.cpp:- comment the code in read and write function did not give any effect to it.....

This is either, because you didn't see the output, because of the problem above, or you maybe didn't compile? I don't really know.

What exactly do you mean by "I can control the robot in rviz?" Do the wheel joints move in rviz and not on the real robot?