create_autonomy frame params

frame_params.cpp

// In the create driver class header file:
//change 
std::string dev;
//to 
std::string dev, odom_frame, base_frame;


// In the create_driver.cpp file
// add: 
  privNh.param<std::string>("odom_frame", odom_frame, "/odom");
  privNh.param<std::string>("base_frame", base_frame, "/base_footprint");
// replace:
  tfOdom.header.frame_id = odom_frame;
  tfOdom.child_frame_id = base_frame;
  odom.header.frame_id = odom_frame;
  odom.child_frame_id = base_frame;
  // tfOdom.header.frame_id = "create/odom";
  // tfOdom.child_frame_id = "create/base_footprint";
  // odom.header.frame_id = "create/odom";
  // odom.child_frame_id = "create/base_footprint";