message: FIX: Only use franka_state_controller
  The normal state_controller (JointStateController) is not present in the
  `default_controllers.yaml` or `franka_example_controllers.yaml` file
diff: type="spawner"
  name="$(arg arm_id)_controller_spawner"
  respawn="false" output="screen"
  - args="state_controller
  - franka_state_controller
  + args="franka_state_controller
  cartesian_impedance_example_controller">
  </node>
  <remap to="cartesian_impedance_example_controller/equilibrium_pose" from="equilibrium_pose" />
  