Remove dead code in NMEANode and its launch file

Author: hmakelin

ros/gisnav/gisnav/extensions/nmea_node.py

@@ -2,7 +2,7 @@
 mock GPS (GNSS) messages as NMEA sentences to ROS
 """
 from datetime import datetime
-from typing import Final, Optional, Tuple
+from typing import Final, Tuple
 
 import numpy as np
 import pynmea2
@@ -27,12 +27,6 @@ class NMEANode(MockGPSNode):
     ROS_D_DEM_VERTICAL_DATUM = 5703
     """Default for :attr:`.dem_vertical_datum`"""
 
-    ROS_D_PORT = "/dev/ttyS1"
-    """Default for :attr:`.port`"""
-
-    ROS_D_BAUDRATE = 9600
-    """Default for :attr:`.baudrate`"""
-
     # EPSG code for WGS 84 and a common mean sea level datum (e.g., EGM96)
     _EPSG_WGS84 = 4326
     _EPSG_MSL = 5773  # Example: EGM96
@@ -61,22 +55,10 @@ def __init__(self, *args, **kwargs):
         # Subscribe
         self.odometry
 
-    @property
-    @ROS.parameter(ROS_D_PORT, descriptor=_ROS_PARAM_DESCRIPTOR_READ_ONLY)
-    def port(self) -> Optional[str]:
-        """Serial port for outgoing NMEA messages"""
-
-    @property
-    @ROS.parameter(ROS_D_BAUDRATE, descriptor=_ROS_PARAM_DESCRIPTOR_READ_ONLY)
-    def baudrate(self) -> Optional[int]:
-        """Baudrate for outgoing NMEA messages"""
-
     def _publish(self, mock_gps_dict: MockGPSNode.MockGPSDict) -> None:
         eph_sqrd = mock_gps_dict["eph"] ** 2
         epv_sqrd = mock_gps_dict["epv"] ** 2
 
-        self.get_logger().info(f"publishin {mock_gps_dict}")
-
         self.publish_nmea_sentences(
             rms=np.sqrt(eph_sqrd + epv_sqrd),
             sd_x=np.sqrt(eph_sqrd / 2),

ros/gisnav/launch/params/nmea_node.yaml

@@ -1,9 +1,3 @@
-# The port can be overridden via launch args in default launch file
-# It probably should not be statically declared here because the appropriate
-# outbound port should probably be some pseudo-tty (virtual serial port) on a
-# development machine --> use launch args to provide suitable port instead
 gisnav:
   nmea_node:
-    ros__parameters:
-      baudrate: 115200
-      #port: "/dev/ttyS1"
+    ros__parameters: []