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To prod you in the right direction, I think you want to use action calls to set the goal pose. ros2 action send_goal /compute_path_to_pose nav2_msgs/action/ComputePathToPose ... seems like what you want. I am not aware of metrics on planning time or path length that are readily available so you may want to dig through the source a bit to see what information is computed already. If you can't find anything, the path message that gets published has a list of waypoints that you could use to approximate path length. Assuming its header is filled out, you should also have access to the timestamp, which you could use to back out how long the planner took.