Ground truth of ignition gazebo model through ROS

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Hi! I'm trying to get the ground truth pose of my vehicle from ignition to ROS. I'm using ROS2 Foxy and Ignition Citadel. I have found the values I want in the ignition topic /world/empty/pose/info and created a IGN to ROS bridge that publishes TFMessages. The problem is the frame id and child frame id are not filled out so I cannot tell which tf is my model. Is there anyway for me to get the ground truth position of my model in ROS with the frame ids filled out?