Reading position of robot through rviz.
Hello, I have successfully created a 2-d map using rviz. I have also successfully set goal way points for the robot to follow and the robot successfully navigates to them . The task I really need to complete involves me having to read the position of the robot in that 2-d map. I am not sure what node to read this position from though. I think reading from the amcl_pose topic might work, also I am going to pass this information to a tf transform that will take the information and send it to a second robot. I feel I am on the right path. If someone could just tell me if I am using the appropriate topic to read the robots current position on the map?