message: FIX: Use `$(arg arm_id)` as fixed frame for RVIz display config
diff: <remap to="cartesian_impedance_example_controller/equilibrium_pose" from="equilibrium_pose" />
  </node>
  - <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/rviz/franka_description_with_marker.rviz" if="$(arg rviz)"/>
  + <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-f $(arg arm_id)_link0 -d $(find franka_example_controllers)/launch/rviz/franka_description_with_marker.rviz" if="$(arg rviz)"/>
  </launch>
  