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[ROS2] /gazebo topics not showing up

I'm running ROS2 Foxy with Gazebo 11, on Ubuntu 20.04.

When I run Gazebo the /gazebo topics do not show up. This both if I use ros2 launch gazebo_ros gazebo.launch.py or gazebo -s libgazebo_ros_init.so

/clock shows up, as do any other ros topics

/gazebo node is running

Gazebo related services show up:

/delete_entity /gazebo/describe_parameters /gazebo/get_parameter_types /gazebo/get_parameters /gazebo/list_parameters /gazebo/set_parameters /gazebo/set_parameters_atomically /get_model_list /pause_physics /reset_simulation /reset_world /spawn_entity /unpause_physics

According to this issue, this has already been done years ago https://github.com/ros-simulation/gazebo_ros_pkgs/issues/838

Am I missing something? Do I need to set some configuration?