message: Re-add rate for joint_state_publisher
diff: <node name="joint_state_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen">
  <rosparam if="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states, franka_gripper/joint_states] </rosparam>
  <rosparam unless="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states] </rosparam>
  + <param name="rate" value="30"/>
  </node>
  <node name="joint_state_desired_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen">
  <rosparam if="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states_desired, franka_gripper/joint_states] </rosparam>
  <rosparam unless="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states_desired] </rosparam>
  + <param name="rate" value="30"/>
  <remap from="/joint_states" to="/joint_states_desired" />
  </node>
  </launch>
  