Add missing tests for pendulum and gripper (position and effort) (backport #814) #871

Job	Run time
build (fortress)	4m 24s
build (fortress, -testing, gz_ros2_control.humble.repos)	11m 2s
build (fortress, -testing)	4m 37s
build (harmonic, -testing, gz_ros2_control.humble.repos)	10m 40s
build (harmonic, -testing)	4m 27s
build (harmonic)	4m 43s
	39m 53s

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