get a list of posts from Custom Taxonomy

posts.php

<?php
$terms = get_terms( array(
    'taxonomy' => 'taxonomy_name',
    'hide_empty' => false,
) );
//from the above code you will get the term id;


$args = array(
    'post_type' => 'product',
    'post_status' => 'publish',
    'posts_per_page' => -1,
    'tax_query' => array(
        array(
            'taxonomy' => 'taxonomy_name',
            'field' => 'id',
            'terms' => '22'
        )
    )
);
?> 
<ul>
  <?php
foreach($args as $arg){ ?>
  //html code here

  <li><?php echo $arg->name; ?></li>

<?php } ?>
  </ul>