message: FIX: Remove joint_state_desired_publisher from gazebo launch file
  This causes problems when publishing multiple joint states for the gripper. The
  normal joint state publisher publishes the correct finger states, but the
  joint_state_desired_publisher publishes all zeros from the URDF.
diff: <param name="rate" value="30"/>
  </node>
  - <node name="joint_state_desired_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen">
  - <rosparam param="source_list">[franka_state_controller/joint_states_desired] </rosparam>
  - <param name="rate" value="30"/>
  - <remap from="/joint_states" to="/joint_states_desired" />
  - </node>
  -
  <node name="interactive_marker" pkg="franka_example_controllers" type="interactive_marker.py" required="true" output="screen">
  <param name="link_name" value="$(arg arm_id)_link0" />
  </node>
  