How can I get the current pose of the turtlebot within a rosjava node?

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Hello,

I have a behavior that I am writing as a RosJava node. I am able to send the robot to goals using the navigation stack, but I need to get the current pose. Please advise on how this can be done. I will be running the base C++ navigation stack, and my custom node package is written in rosJava.

Should I subscribe to an /amcl_pose message and cache the most recent one? Or, should I create a TF listener object, similar to this related post? http://answers.ros.org/question/31815/getting-coordinates-of-turtlebot/

I am referring to the global, /map coordinates.

I have not been able to find anything on this in the rosjava tutorials but it does seem like basic functionality.

Thanks in advance.