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I find the solution:

I forget to rework the CMakeList.txt to add the line franka_msgs in the find_package part

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  actionlib_msgs
  actionlib
  Eigen3
  moveit_ros_planning_interface
  trajectory_msgs
  franka_msgs
)

I find the solution:

I forget to rework the CMakeList.txt to add the line franka_msgs in the find_package part

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  actionlib_msgs
  actionlib
  Eigen3
  moveit_ros_planning_interface
  trajectory_msgs
  franka_msgs
**franka_msgs**
)

I find the solution:

I forget to rework the CMakeList.txt to add the line franka_msgs in the find_package part

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  actionlib_msgs
  actionlib
  Eigen3
  moveit_ros_planning_interface
  trajectory_msgs
  **franka_msgs**
franka_msgs
)

I find the solution:

I forget to rework the CMakeList.txt to add the line franka_msgs in the find_package part

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  actionlib_msgs
  actionlib
  Eigen3
  moveit_ros_planning_interface
  trajectory_msgs
  franka_msgs
)