In the book 'Roots' did having a child change Kunta Kinte's attitude about escaping?

Yes. It had an effect, although I'm not sure if it was a larger effect on his overall desire for escape and freedom than say... losing his foot, or having a wife. The change is more complex than making him more or less desirous of freedom and escape... in some ways it made him want it more, and in a small way probably less, or perhaps it made it less likely. Then he lost that same child because she was sold, and I'm sure that had an effect as well.