Ground truth drone position in Gazebo Garden

I’m running SITL simulation with gazebo garden, and can’t figure out how to get additional ground truth poses from gazebo.
Running the simulation like this:

make px4_sitl gz_x500_mono_cam

then, in gazebo I see following topics:

gz topic -l
/camera
/camera_info
/clock
/gazebo/resource_paths
/gui/camera/pose
/model/x500_mono_cam_0/command/motor_speed
/model/x500_mono_cam_0/servo_0
/model/x500_mono_cam_0/servo_1
/model/x500_mono_cam_0/servo_2
/model/x500_mono_cam_0/servo_3
/model/x500_mono_cam_0/servo_4
/model/x500_mono_cam_0/servo_5
/model/x500_mono_cam_0/servo_6
/model/x500_mono_cam_0/servo_7
/sensors/marker
/stats
/world/default/clock
/world/default/dynamic_pose/info
/world/default/model/x500_mono_cam_0/link/base_link/sensor/air_pressure_sensor/air_pressure
/world/default/model/x500_mono_cam_0/link/base_link/sensor/imu_sensor/imu
/world/default/model/x500_mono_cam_0/link/base_link/sensor/navsat_sensor/navsat
/world/default/pose/info
/world/default/scene/deletion
/world/default/scene/info
/world/default/state
/world/default/stats
/x500_mono_cam_0/command/motor_speed

I’m looking for a way to get topic with the ground truth drone position.
As I understand, in classic gazebo this can be done by adding gazebo_ros_p3d plugin?
What’s the way to do this with new gz_sim (gazebo garden)?

OK, got it myself, have to add plugins to the model’s sdf:

    <plugin
      filename="gz-sim-odometry-publisher-system"
      name="gz::sim::systems::OdometryPublisher">
      <dimensions>3</dimensions>
    </plugin>
    <plugin
      filename="gz-sim-pose-publisher-system"
      name="gz::sim::systems::PosePublisher">
      <publish_link_pose>true</publish_link_pose>
      <publish_collision_pose>false</publish_collision_pose>
      <publish_visual_pose>false</publish_visual_pose>
      <publish_nested_model_pose>false</publish_nested_model_pose>
      </plugin>
    </model>