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Previously the /joint_states topic had values of velocity and effort as well as position, but now velocity and effort disappeared (just blank vectors are sent).

I believe you are mistaken, because if you are using the motoman_driver (which, from the commands you show, I believe you are) then velocity and effort were never published as part of the JointState msgs by the robot_state publisher. Those are simply not being populated by the current version of the driver.

See also ros-industrial/motoman#174, where this is being tracked and discussed.

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