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Regarding your 3rd question: The Nav Goal is published on the topic that is specified in the "Tool Properties" panel (To change: click on "Panels", then "Tool Properties") The default topic name is "/move_base_simple/goal". Other than publishing on that topic, the goal location is not saved in rviz, so it would be up to you to listen to that topic and do something with it. Of course, move_base also listens to that topic and uses it to compute a plan to the goal.