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Try explictly specifying the template type when calling the function as below.

Foo::Foo()
    : nh_ {}
    , arm_id_ {nh_.param<std::string>("/franka_state_controller/arm_id", default_arm_id)}
{
}

With the auto declaration of the default value I don't think the compiler is able to resolve the type for the parameter. let us know if this fixes it.