Pope Francis has sent a message of encouragement to the Olympic Games in Rio de Janeiro, due to open tomorrow night but already dogged by controversy.

In his Wednesday audience yesterday the pope said: "In a world that thirsts for peace, tolerance and reconciliation, I hope that the spirit of the Olympic Games will inspire everyone, participants and spectators, to fight 'the good fight' and finish the race together. That they will desire to achieve not only a medal as a reward, but something much more valuable: the creation of a civilisation where solidarity reigns, based on the recognition that we are all members of one human family, regardless of differences in culture, skin colour or religion."

His message of solidarity may have reflected concerns raised over the high cost of the games for Brazil, whose economy has been hard hit and whose political system is in turmoil. Many favela-dwellers have been evicted from their homes during the creation of Olympic facilities and transport systems and a promised clean-up of the heavily polluted outdoor water sports venue has not materialised.

The arrival of the Olympic torch in Rio yesterday after a three-month tour of Brazilian cities was greeted by demonstrations as protesters expressed their anger at the high cost of hosting the games. Police used pepper spray and tear gas on the crowd and images on news websites showed a policeman appearing to fire a weapon straight at a protester. Video footage showed crowds including families with children running away in fear.

Three protesters were arrested on Tuesday during the torch relay through the town of Niteroi, across the bay from Rio.