add pdo 6077 torque actual value to the joint state interface as effort

[synsi23b]

add the motor "torque actual value" as effort for the joint state interface

[zimmerman-pliant]

I merged this into my fork and it seems to work for me. Thanks for the effort. Hopefully it can get approved and merged here soon.

[zimmerman-pliant]

I think this needs 0x6077 added to the .eds files in canopen_tests so the tests run.

Trying to run

ros2 launch canopen_tests cia402_system.launch.py

results in

[ros2_control_node-1] [INFO] [1729711729.275390986] [device_container]: Initialisation successful.
[ros2_control_node-1] [INFO] [1729711729.275879996] [resource_manager]: Successful 'configure' of hardware 'canopen_test_system'
[ros2_control_node-1] [INFO] [1729711729.275905352] [resource_manager]: 'activate' hardware 'canopen_test_system'
[ros2_control_node-1] [INFO] [1729711729.275915410] [resource_manager]: Successful 'activate' of hardware 'canopen_test_system'
[ros2_control_node-1] [INFO] [1729711729.275935307] [controller_manager]: Resource Manager has been successfully initialized. Starting Controller Manager services...
[ros2_control_node-1] [INFO] [1729711729.285198102] [canopen_402_driver]: Fault reset
[ros2_control_node-1] async_sdo_read: id=2 index=0x6077 subindex=0 object does not exist
[ros2_control_node-1] [ERROR] [1729711729.285646518] [cia402_device_1]: 02:6077:00: Object does not exist in the object dictionary (06020000): Object does not exist in the object dictionary
[cia402_slave_node-4] [INFO] [1729711729.285669198] [cia402_slave]: Switch_On_Disabled