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How to get the position of certain object in gazebo and publish it on a topic to use it in px4 or ROS?

I am trying to get the position of Aruco Marker in the gazebo and publish it on the topic so that I can use it for different processes. Can anyone help me to sort out the solution? I found a similar question in the links below

https://answers.gazebosim.org/question/16067/how-to-get-the-position-of-certain-object-in-gazebo/?answer=25914#post-id-25914

https://answers.gazebosim.org/question/12212/get-pose-of-a-model-from-a-plugin/?answer=12213#post-id-12213

But I can not apply the solution given in the link above. Can someone guide me on how can I get the position and publish it on a topic so I can use it outside the gazebo e.g., PX4 or ROS?