Ground truth drone position in Gazebo Garden

PX4 Autopilot Simulation 🌍
1

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)?

2

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>
3

after loading the plugin, which is the name of the topic appear on gazebo?