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Your code using the Kinematics API to calculate the end effector position will work, and you can convert between the Eigen and geometry_msg types using these convenience functions, but you asked if your process is "correct", and I can't answer that, since we don't know what exactly you are aiming to do. As mentioned in your previous post, this site works better if you try to keep questions focused.

Note that while your way of calculating the end-effector position (via forward kinematics) is valid, the move_group also advertises a compute_fk service you can use. There is also this question regarding saving/writing message to/from a file in C++. In Python, you can easily save messages using YAML input/output.