Add effort command interface to all joints (#350)

Co-authored-by: Felix Exner <feex@universal-robots.com>

Author: mergify[bot]

urdf/ur.ros2_control.xacro

@@ -69,6 +69,7 @@
       <joint name="${tf_prefix}shoulder_pan_joint">
         <command_interface name="position"/>
         <command_interface name="velocity"/>
+        <command_interface name="effort"/>
         <state_interface name="position">
           <!-- initial position for the FakeSystem and simulation -->
           <param name="initial_value">${initial_positions['shoulder_pan_joint']}</param>
@@ -79,6 +80,7 @@
       <joint name="${tf_prefix}shoulder_lift_joint">
         <command_interface name="position"/>
         <command_interface name="velocity"/>
+        <command_interface name="effort"/>
         <state_interface name="position">
           <!-- initial position for the FakeSystem and simulation -->
           <param name="initial_value">${initial_positions['shoulder_lift_joint']}</param>
@@ -89,6 +91,7 @@
       <joint name="${tf_prefix}elbow_joint">
         <command_interface name="position"/>
         <command_interface name="velocity"/>
+        <command_interface name="effort"/>
         <state_interface name="position">
           <!-- initial position for the FakeSystem and simulation -->
           <param name="initial_value">${initial_positions['elbow_joint']}</param>
@@ -99,6 +102,7 @@
       <joint name="${tf_prefix}wrist_1_joint">
         <command_interface name="position"/>
         <command_interface name="velocity"/>
+        <command_interface name="effort"/>
         <state_interface name="position">
           <!-- initial position for the FakeSystem and simulation -->
           <param name="initial_value">${initial_positions['wrist_1_joint']}</param>
@@ -109,6 +113,7 @@
       <joint name="${tf_prefix}wrist_2_joint">
         <command_interface name="position"/>
         <command_interface name="velocity"/>
+        <command_interface name="effort"/>
         <state_interface name="position">
           <!-- initial position for the FakeSystem and simulation -->
           <param name="initial_value">${initial_positions['wrist_2_joint']}</param>
@@ -119,6 +124,7 @@
       <joint name="${tf_prefix}wrist_3_joint">
         <command_interface name="position"/>
         <command_interface name="velocity"/>
+        <command_interface name="effort"/>
         <state_interface name="position">
           <!-- initial position for the FakeSystem and simulation -->
           <param name="initial_value">${initial_positions['wrist_3_joint']}</param>