Is there way to view current joint states of robotic arm in moveit?

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I want to be able to visualise the current joint states for an abb irb 120 robotic arm that i'm using. the idea is to hopefully be able to plan cartesian paths for the robot, but I'd like to know the joint states of the robot arm to see where it's positioning is.

Also, how am I able to use cartesian planning if I'm unsure of the workspace coordinates that the robot operates in? as in how would i know the exact coordinates of where I want to position my end-effector in moveit!, so that I'm able to use cartesian planning for defining goal states for my robot arm?