get effort feedback in joint_states (UniversalRobots#160)

Add joint currents as efforts in joint_state

Co-authored-by: tonkei0361 <[email protected]>

Author: gtatiya

ur_robot_driver/resources/rtde_output_recipe.txt

@@ -24,3 +24,4 @@ robot_mode
 safety_mode
 robot_status_bits
 safety_status_bits
+actual_current

ur_robot_driver/src/ros/hardware_interface.cpp

@@ -442,6 +442,7 @@ void HardwareInterface::read(const ros::Time& time, const ros::Duration& period)
     readData(data_pkg, "safety_mode", safety_mode_);
     readBitsetData<uint32_t>(data_pkg, "robot_status_bits", robot_status_bits_);
     readBitsetData<uint32_t>(data_pkg, "safety_status_bits", safety_status_bits_);
+    readData(data_pkg, "actual_current", joint_efforts_);
     readBitsetData<uint64_t>(data_pkg, "actual_digital_input_bits", actual_dig_in_bits_);
     readBitsetData<uint64_t>(data_pkg, "actual_digital_output_bits", actual_dig_out_bits_);
     readBitsetData<uint32_t>(data_pkg, "analog_io_types", analog_io_types_);