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How can I get the current tab URL for chrome extension?

I know there are many similar questions on SO, but I cannot seem to get it working.

I am trying to get the URL of the current tab from my Chrome extension. Hoewever, the alert(tab.url) returns "Undefined". I have added the "tabs" to my permissions in the manifest.json. Any ideas?

<html>
<head>
<script>

    chrome.tabs.getSelected(null, function(tab) {
        tab = tab.id;
        tabUrl = tab.url;

        alert(tab.url);
    });

</script>
</head>

Just an FYI for people from Google:

The method OP uses is deprecated. To get the tab the user is viewing and only in the window they are viewing use this:

  chrome.tabs.query({active: true, currentWindow: true}, function(tabs) {

     // since only one tab should be active and in the current window at once
     // the return variable should only have one entry
     var activeTab = tabs[0];
     var activeTabId = activeTab.id; // or do whatever you need

  });

The problem is in this line:

tab = tab.id;

It should be something like:

var tabId = tab.id;

This is what worked for me:

chrome.tabs.query({
    active: true,
    lastFocusedWindow: true
}, function(tabs) {
    // and use that tab to fill in out title and url
    var tab = tabs[0];
    console.log(tab.url);
    alert(tab.url);
});

In manifest.json:

"permissions": [
    "tabs"
] 

In JavaScript:

chrome.tabs.query({
    active: true,
    lastFocusedWindow: true
}, function(tabs) {
    // and use that tab to fill in out title and url
    var tab = tabs[0];
    console.log(tab.url);
    alert(tab.url);
});

With a little help of ES6, you can easily write nicer code:)

chrome.tabs.query({
  active: true,
  currentWindow: true
}, ([currentTab]) => {
  console.log(currentTab.id);
});

Remember to add this to your manifest.json file

"permissions": [
    "tabs"
] 

Just if someone using Web Extension Polyfill like me, for cross browser support.

// using async function
const [currentTab] = await browser.tabs.query({
  active: true,
  currentWindow: true,
});

console.log({ id: currentTab.id, url: currentTab.url });

For me, I was missing the "tabs" permission as per Kartik Kkartin answer

Rest of the code in my background script

chrome?.tabs?.onUpdated?.addListener((tabId, changeInfo, tab) => {
  if (changeInfo.status == 'complete') {
    console.log('tabId', tabId, 'changeInfo', changeInfo, 'tab', tab)
  }
})

That will log the tab information, including the url in the tab.url when loading a tab

The newest versions indicates it must be like this

async function getCurrentTab() {
  let queryOptions = { active: true, lastFocusedWindow: true };
  // `tab` will either be a `tabs.Tab` instance or `undefined`.
  let [tab] = await chrome.tabs.query(queryOptions);
  return tab;
}

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