Sending Human Data as ROS Topics

I was wondering if it is possible to send information about human, deployed in Isaac Sim, using ROS1/2? Consider the following scenario: I have a human deployed in the sim and the as instructed in the tutorials, I can give an end position to the human to go to and the default controller figures out the path itself. I want to get the position of the human in real-time as a rostopic to use in my application. Any ideas how this can be done? I was wondering if there is something I can do using action graphs.
Similarly, I was wondering if it is possible to get the ground truth position of the robot at all times. I am aware that I can use the odometry topic to get the position and orientation and then estimate the position, but is there a way to get the accurate ground truth position?