get matrix of parameters which the robots needs to move along the path

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hello everyone, i was able recently to run the move base node alongside the package named "simple_goals_navigation" and it worked smoothly. now the problem is that i want to convert the path with the node of the move_base to a matrix or something like that in order to send those parameters in a script to move my robot correctly. i.e: after the path is drawn by the move base can i launch a command in terminal to see a matrix that sends velocity,orientation,translation ... needed to send to the robot every second to reach the goal or to correct it's position to reach the goal. command : (velocity, translations, rotation , ..)