Worked on major codebase simplification for the vortexntnu/vortex-auv and vortexntnu/vortex-asv repositories, focusing on the deprecation and removal of acoustics modules. Refactored the acoustics data logging interface using Python and CMake, improving organization and maintainability while streamlining configuration management with YAML. Systematically removed obsolete data recording, live display, and interface components, reducing technical debt and aligning with a broader deprecation strategy. Cleaned up related configuration files and documentation to ensure consistency across the build system. These efforts enhanced build reliability, reduced maintenance overhead, and accelerated the development roadmap for robotics software based on ROS2 and related technologies.