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Afaik, all ros_control controllers periodically publish their internal state to a private state topic.
The code which does that for effort_controllers/JointVelocityController is here.
Subscribing to that topic should get you messages of type control_msgs::JointControllerState, which includes the command field which seems to be what you are after:
# Current output of the controller.
float64 command
See #q323036 for a related question.
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