Implementing "Servo"/ Joint Positional Feedback

I would like to get feedback about the position of joints (in my use case these joints would be simulated as servos). This positional feedback needs to be received by PX4-Autopilot and not another system or plugin from within gazebo.

So my current working implementation is to add another sdf option to the joint-position-controller to enable feedback, and it then publishes the position of the joint on the ${joint_name}/feedback topic. PX4 then subscribes to this topic using gz-transport.

I was wondering if anyone might have other suggestion, since I would like to contribute this back, but dont want to contribute something which seems already completely off or need something small as an extra.

It seems to me you could just use the JointStatePublisher. Am I missing something?