Getting the navigation goal from RVIZ

I am able to get the initial pose of my turtlebot using : `rospy.wait_for_message('initialpose', PoseWithCovarianceStamped)` `rospy.Subscriber('initialpose', PoseWithCovarianceStamped)` This allows me to get a the initial pose when a user clicks sets the 2d Pose estimate in RVIZ. My question is threefold - How do I achieve the same with the 2d Navigation Goal (getting it fom RVIZ)? - What message should I wait for and subscribe to? - What TYPE of message am I looking for? For example with initialpose I get a PoseWithCovarianceStamped message.