message: CHANGE: Start the interactive marker only if cartesian impedance controller
diff: <param name="rate" value="30"/>
  </node>
  - <node name="interactive_marker" pkg="franka_example_controllers" type="interactive_marker.py" required="true" output="screen">
  + <!-- Start only if cartesian_impedance_example_controller -->
  + <node name="interactive_marker"
  + pkg="franka_example_controllers"
  + type="interactive_marker.py"
  + if="$(eval arg('controller') == 'cartesian_impedance_example_controller')">
  <param name="link_name" value="$(arg arm_id)_link0" />
  </node>
  