How to get position from Gazebo Garden within a ROS2 Node

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Hello,

I'm into a ROS2 Project where I have to use Gazebo (Ignition) Garden. I used the ROS/Ign bride that allow me at start within the launch file to set the object location.

But I don't know how to get the object location, and the contact between my robot and an object within a ROS Node?

Is there any tutorial ?

Looking forward to hearing from you !