Receiving road message during simulation runtime

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Dear community,

i'm implementing a plugin, which should listen to the ~/roads topic of type msgs::Road. I think this topic is published by the Road Plugin after parsing the sdf, isn't it? Is it possible to listen to the topic with a plugin? Therefore the plugin should be started before the Road plugin, right? Also

gztopic view /gazebo/world/roads

doesn't show anything during the simulation.

Best regards!