diff --git a/spot_driver/launch/spot_driver.launch.py b/spot_driver/launch/spot_driver.launch.py
index fab0ef70..b7c6ec32 100644
--- a/spot_driver/launch/spot_driver.launch.py
+++ b/spot_driver/launch/spot_driver.launch.py
@@ -106,7 +106,7 @@ def launch_setup(context: LaunchContext, ld: LaunchDescription) -> None:
     )
     ld.add_action(robot_state_publisher)
 
-    spot_robot_state_publisher_params = {"spot_name": spot_name, "preferred_odom_frame": "odom"}
+    spot_robot_state_publisher_params = {"spot_name": spot_name}
     spot_robot_state_publisher = launch_ros.actions.Node(
         package="spot_driver",
         executable="state_publisher_node",
diff --git a/spot_driver/test/src/conversions/test_robot_state.cpp b/spot_driver/test/src/conversions/test_robot_state.cpp
index f0919eb6..0712a166 100644
--- a/spot_driver/test/src/conversions/test_robot_state.cpp
+++ b/spot_driver/test/src/conversions/test_robot_state.cpp
@@ -343,14 +343,7 @@ TEST(RobotStateConversions, TestGetOdomTwist) {
   timestamp.set_nanos(0);
   addAcquisitionTimestamp(robot_state.mutable_kinematic_state(), timestamp);
 
-  auto* velocity_linear = robot_state.mutable_kinematic_state()->mutable_velocity_of_body_in_odom()->mutable_linear();
-  velocity_linear->set_x(1.0);
-  velocity_linear->set_y(2.0);
-  velocity_linear->set_z(3.0);
-  auto* velocity_angular = robot_state.mutable_kinematic_state()->mutable_velocity_of_body_in_odom()->mutable_angular();
-  velocity_angular->set_x(1.0);
-  velocity_angular->set_y(2.0);
-  velocity_angular->set_z(3.0);
+  addBodyVelocityOdom(robot_state.mutable_kinematic_state(), 1.0, 2.0, 3.0, 1.0, 2.0, 3.0);
 
   // GIVEN some nominal clock skew
   google::protobuf::Duration clock_skew;