Joint_trajectory_controller with effort control real robot.

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Franka Emika's Panda?

It's not using the JTC itself directly, but I believe you can configure their ROS driver stack with one. It's all ros_control based in any case.

There are also ros_control compatible drivers for KUKA IIWAs and LBRs which IIRC expose a joint effort interface.

I would not call any of those toys.

Edit: I'm curious as to why you are looking for robots with effort interfaces though. The JTC will still basically use it to execute position-based trajectories.

I built my own robot arm using STM motor control sdk. To control robot i need to pass torque data to uController, while i can read position from encoder. Position only cannot provide correct trajectory control.