Where to get status in moveit

Hello, I using rviz and Moveit. I want to get the information in the Status topic from PlanningScene data. ...... Changed goal state Changed goal state Changed goal state Changed goal state Changed start state I try to find the topic where that information is published. I think I try every topic but nothing seems to publish that data. How can I collect that data? and even more event like can't plan, can't execute task information?