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Fix poetenial issues in parser.py (#1404)

This PR tightens up the `rosidl_parser/parser.py` CLI wrapper used by the Node-side `rosidl_parser.js` helper by removing unused code and correcting the expected CLI argument count.

**Changes:**
- Remove an unused `rosidl_parser` import.
- Remove an unused intermediate `msg_name` variable.
- Update the CLI argument count check to require 3 parameters after the script name (command, package, file path).

Fix: #1403

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