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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.