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For my understanding you would like to republish a topic in Gazebo to ROS. If this is what you are trying to do, see this example.

The official way make Gazebo and ROS interact is implementing a Gazebo plugin, there are different types of plugins in Gazebo depending on what you are trying to publish (model, sensor, etc.). However, in case that you have some problems to implement that the other approach could be used. Explanation of how to create a plugin could be see here.