diff --git a/franka_control/src/franka_state_controller.cpp b/franka_control/src/franka_state_controller.cpp
index fb6d22e08cb38eb622cbb187279e20faaeed5c79..2faa5aea54f6cf4c66a145cc0c2b844de04f4ef1 100644
--- a/franka_control/src/franka_state_controller.cpp
+++ b/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;
 }
 
diff --git a/franka_msgs/msg/Errors.msg b/franka_msgs/msg/Errors.msg
index cddeed88f7e33a89a1a968150725803482744025..a50780fb726d63bbd6a2aaffbf502558999a2db5 100644
--- a/franka_msgs/msg/Errors.msg
+++ b/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