diff --git a/rj_msgs/msg/AgentState.msg b/rj_msgs/msg/AgentState.msg
index e69de29bb2d..04355828888 100644
--- a/rj_msgs/msg/AgentState.msg
+++ b/rj_msgs/msg/AgentState.msg
@@ -0,0 +1 @@
+string state
\ No newline at end of file
diff --git a/soccer/src/soccer/strategy/agent/position/defense.cpp b/soccer/src/soccer/strategy/agent/position/defense.cpp
index 78b0ebfb528..3e72a81a478 100644
--- a/soccer/src/soccer/strategy/agent/position/defense.cpp
+++ b/soccer/src/soccer/strategy/agent/position/defense.cpp
@@ -9,6 +9,10 @@ std::optional<RobotIntent> Defense::derived_get_task(RobotIntent intent) {
     return state_to_task(intent);
 }
 
+std::string Defense::get_current_state() {
+    return std::string{"Defense"} + std::to_string(static_cast<int>(current_state_));
+}
+
 Defense::State Defense::update_state() {
     State next_state = current_state_;
     // handle transitions between states
diff --git a/soccer/src/soccer/strategy/agent/position/defense.hpp b/soccer/src/soccer/strategy/agent/position/defense.hpp
index f66ae8c975b..86ee80e50f3 100644
--- a/soccer/src/soccer/strategy/agent/position/defense.hpp
+++ b/soccer/src/soccer/strategy/agent/position/defense.hpp
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <cmath>
+#include <string>
 
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp_action/rclcpp_action.hpp>
@@ -35,6 +36,7 @@ class Defense : public Position {
     void derived_acknowledge_pass() override;
     void derived_pass_ball() override;
     void derived_acknowledge_ball_in_transit() override;
+    std::string get_current_state() override;
 
     void die() override;
     void revive() override;
diff --git a/soccer/src/soccer/strategy/agent/position/goal_kicker.cpp b/soccer/src/soccer/strategy/agent/position/goal_kicker.cpp
index ead8901107b..2efb9576218 100644
--- a/soccer/src/soccer/strategy/agent/position/goal_kicker.cpp
+++ b/soccer/src/soccer/strategy/agent/position/goal_kicker.cpp
@@ -28,6 +28,8 @@ std::optional<RobotIntent> GoalKicker::derived_get_task(RobotIntent intent) {
     return intent;
 }
 
+std::string GoalKicker::get_current_state() { return "GoalKicker"; }
+
 void GoalKicker::derived_acknowledge_pass() {}
 
 void GoalKicker::derived_pass_ball() {}
diff --git a/soccer/src/soccer/strategy/agent/position/goal_kicker.hpp b/soccer/src/soccer/strategy/agent/position/goal_kicker.hpp
index 7397b9293c5..249010a81df 100644
--- a/soccer/src/soccer/strategy/agent/position/goal_kicker.hpp
+++ b/soccer/src/soccer/strategy/agent/position/goal_kicker.hpp
@@ -1,5 +1,7 @@
 #pragma once
 
+#include <string>
+
 #include <rclcpp/rclcpp.hpp>
 
 #include "planning/instant.hpp"
@@ -32,6 +34,8 @@ class GoalKicker : public Position {
      */
     void derived_acknowledge_ball_in_transit() override;
 
+    std::string get_current_state() override;
+
 private:
     std::optional<RobotIntent> derived_get_task(RobotIntent intent) override;
 };
diff --git a/soccer/src/soccer/strategy/agent/position/goalie.cpp b/soccer/src/soccer/strategy/agent/position/goalie.cpp
index e91952eac3e..782daf18f73 100644
--- a/soccer/src/soccer/strategy/agent/position/goalie.cpp
+++ b/soccer/src/soccer/strategy/agent/position/goalie.cpp
@@ -11,6 +11,8 @@ std::optional<RobotIntent> Goalie::derived_get_task(RobotIntent intent) {
     return state_to_task(intent);
 }
 
+std::string Goalie::get_current_state() { return "Goalie"; }
+
 Goalie::State Goalie::update_state() {
     // if a shot is coming, override all and go block it
     WorldState* world_state = last_world_state_;
diff --git a/soccer/src/soccer/strategy/agent/position/goalie.hpp b/soccer/src/soccer/strategy/agent/position/goalie.hpp
index 4ca34ef8737..76115002ce9 100644
--- a/soccer/src/soccer/strategy/agent/position/goalie.hpp
+++ b/soccer/src/soccer/strategy/agent/position/goalie.hpp
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <cmath>
+#include <string>
 
 #include <spdlog/spdlog.h>
 
@@ -28,6 +29,8 @@ class Goalie : public Position {
     void derived_pass_ball() override;
     void derived_acknowledge_ball_in_transit() override;
 
+    std::string get_current_state() override;
+
 private:
     // point goalie will aim for when clearing balls
     const rj_geometry::Point clear_point_{0.0, 4.5};
diff --git a/soccer/src/soccer/strategy/agent/position/offense.cpp b/soccer/src/soccer/strategy/agent/position/offense.cpp
index 3c1a6ef680c..c64d49b5177 100644
--- a/soccer/src/soccer/strategy/agent/position/offense.cpp
+++ b/soccer/src/soccer/strategy/agent/position/offense.cpp
@@ -14,6 +14,10 @@ std::optional<RobotIntent> Offense::derived_get_task(RobotIntent intent) {
     return state_to_task(intent);
 }
 
+std::string Offense::get_current_state() {
+    return std::string{"Offense"} + std::to_string(static_cast<int>(current_state_));
+}
+
 Offense::State Offense::update_state() {
     State next_state = current_state_;
     // handle transitions between current state
diff --git a/soccer/src/soccer/strategy/agent/position/offense.hpp b/soccer/src/soccer/strategy/agent/position/offense.hpp
index 705890dc482..e45df52e772 100644
--- a/soccer/src/soccer/strategy/agent/position/offense.hpp
+++ b/soccer/src/soccer/strategy/agent/position/offense.hpp
@@ -2,6 +2,7 @@
 
 #include <chrono>
 #include <cmath>
+#include <string>
 
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp_action/rclcpp_action.hpp>
@@ -36,6 +37,8 @@ class Offense : public Position {
     void derived_pass_ball() override;
     void derived_acknowledge_ball_in_transit() override;
 
+    std::string get_current_state() override;
+
 private:
     bool kicking_{true};
 
diff --git a/soccer/src/soccer/strategy/agent/position/penalty_player.cpp b/soccer/src/soccer/strategy/agent/position/penalty_player.cpp
index 53a2e61a8e8..82e58044768 100644
--- a/soccer/src/soccer/strategy/agent/position/penalty_player.cpp
+++ b/soccer/src/soccer/strategy/agent/position/penalty_player.cpp
@@ -31,6 +31,8 @@ std::optional<RobotIntent> PenaltyPlayer::derived_get_task(RobotIntent intent) {
     return intent;
 }
 
+std::string PenaltyPlayer::get_current_state() { return "PenaltyPlayer"; }
+
 void PenaltyPlayer::derived_acknowledge_pass() {}
 
 void PenaltyPlayer::derived_pass_ball() {}
diff --git a/soccer/src/soccer/strategy/agent/position/penalty_player.hpp b/soccer/src/soccer/strategy/agent/position/penalty_player.hpp
index ea52e65e477..2942db29d83 100644
--- a/soccer/src/soccer/strategy/agent/position/penalty_player.hpp
+++ b/soccer/src/soccer/strategy/agent/position/penalty_player.hpp
@@ -1,5 +1,7 @@
 #pragma once
 
+#include <string>
+
 #include <rclcpp/rclcpp.hpp>
 
 #include "planning/instant.hpp"
@@ -32,6 +34,8 @@ class PenaltyPlayer : public Position {
      */
     void derived_acknowledge_ball_in_transit() override;
 
+    std::string get_current_state() override;
+
 private:
     std::optional<RobotIntent> derived_get_task(RobotIntent intent) override;
 };
diff --git a/soccer/src/soccer/strategy/agent/position/position.hpp b/soccer/src/soccer/strategy/agent/position/position.hpp
index 308293d6175..9faca6c378d 100644
--- a/soccer/src/soccer/strategy/agent/position/position.hpp
+++ b/soccer/src/soccer/strategy/agent/position/position.hpp
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <cstdlib>
+#include <string>
 #include <vector>
 
 #include <spdlog/spdlog.h>
@@ -75,6 +76,9 @@ class Position {
     void update_alive_robots(std::vector<u_int8_t> alive_robots);
     const std::string get_name();
 
+    // returns the current state of the robot
+    virtual std::string get_current_state() = 0;
+
     /**
      * @brief setter for time_left_
      */
diff --git a/soccer/src/soccer/strategy/agent/position/robot_factory_position.cpp b/soccer/src/soccer/strategy/agent/position/robot_factory_position.cpp
index 8f87db3f764..99f91b56656 100644
--- a/soccer/src/soccer/strategy/agent/position/robot_factory_position.cpp
+++ b/soccer/src/soccer/strategy/agent/position/robot_factory_position.cpp
@@ -120,4 +120,8 @@ void RobotFactoryPosition::die() { current_position_->die(); }
 
 void RobotFactoryPosition::revive() { current_position_->revive(); }
 
+std::string RobotFactoryPosition::get_current_state() {
+    return current_position_->get_current_state();
+}
+
 }  // namespace strategy
diff --git a/soccer/src/soccer/strategy/agent/position/robot_factory_position.hpp b/soccer/src/soccer/strategy/agent/position/robot_factory_position.hpp
index f5a6aefa827..7edc6d8595e 100644
--- a/soccer/src/soccer/strategy/agent/position/robot_factory_position.hpp
+++ b/soccer/src/soccer/strategy/agent/position/robot_factory_position.hpp
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <cmath>
+#include <string>
 
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp_action/rclcpp_action.hpp>
@@ -54,6 +55,8 @@ class RobotFactoryPosition : public Position {
     void derived_pass_ball() override;
     void derived_acknowledge_ball_in_transit() override;
 
+    std::string get_current_state() override;
+
     void set_is_done() override;
     void die() override;
     void revive() override;