How can I get the target torque and current for UR10 robot?

[MohamedOmar2014]

(ROS neotic+ubuntu 20.04)
I'm trying to get the target torque and current for each joint of the robot. I added target_current and target_moment to rtde_output_recipe.txt but I don't know how can I access it through /joint_states topic or any other way. Any help??

I did that based on the following:

• To make use of Rtde recipe publishing #35 you can try to checkout that branch and add the joint currents or target_moment fields to the output recipe file. This is currently a feature in development, so sorry that there isn't a ton of documentation there, yet.
  @fmauch

[fmauch]

Yes, that would have been the suggestion I would have done. #35 comes closest to what you want to achieve. As you can see in the discussion there, this has never settled to an agreement and never was followed up.

[urfeex]

Since this has been lurking around for ages now since #35 has been created, there is a solution for ROS 2 now:

https://github.com/UniversalRobots/RTDE_ROS2_Publisher contains a ROS 2 node publishing any RTDE output directly to a ROS topic. For ROS 1 this will not be implemented anymore, hence I'm closing this issue.