Merge branch 'main' into dev/angels_changes

* main:
  [SW-1106] using custom launch actions from synchros2 (bdaiinstitute#537)
  [SW-1764] allow use of preferred_odom_frame parameter (bdaiinstitute#538)
  [dependabot] Bump ros_utilities from `5aa699a` to `539c962` (bdaiinstitute#535)
  [SW-1658] Allow body frame to be root of TF tree (bdaiinstitute#536)
  [N/a] fix for launching the driver without the gripper (bdaiinstitute#534)
  [MAPLE-681] Add robot_description_package as parameter to driver launch (bdaiinstitute#531)
  [dependabot] Bump ros_utilities from `e4d5c80` to `5aa699a` (bdaiinstitute#530)
  [dependabot] Bump ros_utilities from `02ca14e` to `e4d5c80` (bdaiinstitute#525)
  [dependabot] Bump ros_utilities from `5258a5a` to `02ca14e` (bdaiinstitute#524)
  [dependabot] Bump spot_wrapper from `76e522b` to `c78ebfb` (bdaiinstitute#523)
  [dependabot] Bump ros_utilities from `23a79c9` to `5258a5a` (bdaiinstitute#522)
  [N/A] bugfix: give new xacro arguments default values (bdaiinstitute#521)
  [SW-1507] gripperless URDF for Spot (bdaiinstitute#520)
  [SW-1539] don't publish images from hand camera if gripperless param set (bdaiinstitute#518)
  [SW-1466] ability to take joint gains in through a parameter file (bdaiinstitute#516)

# Conflicts:
#	spot_driver/spot_driver/spot_ros2.py