Modify example config

Signed-off-by: Katie Hughes <[email protected]>

spot_driver/config/spot_ros_example.yaml

@@ -21,7 +21,8 @@
     estop_timeout: 9.0
     start_estop: False
 
-    preferred_odom_frame: "odom" # pass either odom/vision. This frame will become the parent of body in tf2 tree and will be used in odometry topic. https://dev.bostondynamics.com/docs/concepts/geometry_and_frames.html?highlight=frame#frames-in-the-spot-robot-world for more info.
+    preferred_odom_frame: "odom" # pass either odom/vision. This will be used in the odometry topic. https://dev.bostondynamics.com/docs/concepts/geometry_and_frames.html?highlight=frame#frames-in-the-spot-robot-world for more info.
+    tf_root: "odom" # Use "odom" (default), "vision", or "body" for the root frame in your TF tree.
 
     cmd_duration: 0.25 # The duration of cmd_vel commands. Increase this if spot stutters when publishing cmd_vel.
     rgb_cameras: True  # Set to False if your robot has greyscale cameras -- otherwise you won't receive data.