How to get current pose for DENSO VS060

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I tried to get current pose of DENSO VS060 after executing command below roslaunch denso_launch denso_vs060_moveit_demo_simulation.launch

What I did in python was

group = MoveGroupCommander("manipulator")
temp_pose=group.get_current_pose()

Then I saw error message

time is not initialized. Have you called init_node()?

So I used the command below.

rospy.init_node("move_group")

Then RViz freezed.

Would you please tell me how to get current pose of robot?