Currently what I can seem to do with the C++ moveGroupInterface is that I can provide a setJointValueTarget and perform a mission PLAN, I get an output with only the trajectory (jointStates) for the robot arm.

What I would also like to know is the position of the end link (end-effector) in the form of geometry_msgs/PoseStamped so that I am able to plan tasks accordingly.

Also, I have noticed that RViz displays the position of the end-link (' end_point ' in this case) under the tab planned path and links.

If there is a way to get the position information for the movGroupInterface or RViz, please help me out.