I wang to find the specific data of velocity and position

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Hi everyone: I use moveit for my own robot arm.In the Rviz I have my URDF to display already. I want to get the motion information from some topic ,just like the topic /joint_states or /tf. If this kind of topic has information of velocity and position,I will write a node to subscribe to the topic ,then send the information to canBus which lets the motor driver to rotate.But I do not know which topic has such information that I need. So who can help me