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I'm not quite sure what your question is.

the driver.py publishes JointStates as well as Wrench messages. So you can get the torque at the TCP at least by listening to the respective topics. As far as I see, you need to implement a new publisher for getting torques at the different joints (if this can be retrieved from the UR5, I'm no expert there).

For commanding it, you need to send a FollowJointTrajectoryAction from a respective ActionClient.

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