How do I set custom names for queues (and other kernel objects), instead of the default names (“Queue #1” etc.)

Use vTraceSetQueueName, vTraceSetSemaphoreName or vTraceSetMutexName, as in the below example:

actuatorQ = xQueueCreate(3, sizeof(QueueMessage) );
if (actuatorQ != NULL)
{
    vTraceSetQueueName(actuatorQ, "ActuatorQueue"); // Set the name
    ...
}
else
{
    ... // Error handling
}