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The best way to get the position and more info of a link is using this pluin in your urdf:

<plugin name="p3d_base_controller" filename="libgazebo_ros_p3d.so">
  <alwaysOn>true</alwaysOn>
  <updateRate>100.0</updateRate>
  <bodyName>base_link</bodyName>
  <topicName>base_pose_ground_truth</topicName>
  <gaussianNoise>0</gaussianNoise>
  <frameName>/map</frameName>
  <xyzOffsets>0 0 0</xyzOffsets>
  <rpyOffsets>0 0 0</rpyOffsets>
</plugin>

image description

(it also works with rostopic echo..... )