Wait for nonzero joint states in PSM in Servo CPP integration test (#… #1638

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Job	Run time
ci (rolling)	5m 13s
ci (jazzy)	4m 56s
release (rolling)	3m 15s
release (jazzy)	4m 7s
source (rolling)	42m 33s
source (jazzy)	41m 32s
delete_untagged	7s
	1h 41m 43s