rviz: 2d Goal Pose

$ ros2 topic info /goal_pose
Type: geometry_msgs/msg/PoseStamped
...

$ ros2 topic echo /goal_pose

header:
  stamp:
    sec: 1731513288
    nanosec: 778718457
  frame_id: world
pose:
  position:
    x: -2.4587173461914062
    y: 2.2831757068634033
    z: 0.0
  orientation:
    x: 0.0
    y: 0.0
    z: 0.0
    w: 1.0
---

from geometry_msgs.msg import PoseStamped

# ...

pos = msg.pose.position
self.get_logger().info(f"goal: {pos.x} {pos.y}")