This is being discussed here.
Apparently, there is an issue with httr, on which rfacebook's FB authentication function is based.
You can try the following:  
Install an older version of httr
You can try downloading the tar.gz files from Cran's archive  
#Credit to Thomas Leeper from whose answer the following was copied
#http://stackoverflow.com/questions/17082341/installing-older-version-of-r-package
#for example of ggplot2
packageurl <- "http://cran.r-project.org/src/contrib/Archive/ggplot2/ggplot2_0.9.1.tar.gz"
install.packages(packageurl, repos=NULL, type="source")
or you can try install_version() function from the devtools package
Generate a temporay authentication
by visiting this link: https://developers.facebook.com/tools/explorer/
and then pasting the token you acquire into any functions of rfacebook that require an access token.
Update
As of August 6th, the package author has sorted the problem out - it is now possible to complete the authentication process without ending up in an error.