franka gripper process died

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I am trying to run the franka_ros example: cartesian_impedance_example_controller.launch

The log shows that the process has died when running the franka_gripper part. It works fine without gripper, but when I add it, I have this error, anyone knows how to solve it?

Command used:

roslaunch franka_example_controllers cartesian_impedance_example_controller.launch load_gripper:=true robot_ip:=xxx.xx.xx.xx

Below is the log:

    [ INFO] [1645199544.097801649]: rviz version 1.14.7
[ INFO] [1645199544.098172192]: compiled against Qt version 5.12.9
[ INFO] [1645199544.098182692]: compiled against OGRE version 1.10.12 (Xalafu)
[ INFO] [1645199544.103759631]: Forcing OpenGl version 0.
[franka_gripper-2] process has died [pid 5049, exit code -6, cmd /home/bwu/franka_ws/devel/lib/franka_gripper/franka_gripper_node __name:=franka_gripper __log:=/home/bwu/.ros/log/c301ab16-90d2-11ec-9774-b496917718d6/franka_gripper-2.log].
log file: /home/bwu/.ros/log/c301ab16-90d2-11ec-9774-b496917718d6/franka_gripper-2*.log