Added three new errors to franka_msgs::Errors.

franka_control/src/franka_state_controller.cpp

@@ -120,6 +120,13 @@ franka_msgs::Errors errorsToMessage(const franka::Errors& error) {
           error.communication_constraints_violation);
   message.power_limit_violation =
       static_cast<decltype(message.power_limit_violation)>(error.power_limit_violation);
+  message.joint_p2p_insufficient_torque_for_planning =
+      static_cast<decltype(message.joint_p2p_insufficient_torque_for_planning)>(
+          error.joint_p2p_insufficient_torque_for_planning);
+  message.tau_j_range_violation =
+      static_cast<decltype(message.tau_j_range_violation)>(error.tau_j_range_violation);
+  message.instability_detected =
+      static_cast<decltype(message.instability_detected)>(error.instability_detected);
   return message;
 }
 

franka_msgs/msg/Errors.msg

@@ -31,3 +31,6 @@ bool controller_torque_discontinuity
 bool start_elbow_sign_inconsistent
 bool communication_constraints_violation
 bool power_limit_violation
+bool joint_p2p_insufficient_torque_for_planning
+bool tau_j_range_violation
+bool instability_detected