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The code proposed by Lorenz did not compile! This is what it should be after fixing the errors:

rosbag::Bag bag("foo.bag");
rosbag::View view(bag);
std::vector<const rosbag::ConnectionInfo *> connection_infos = view.getConnections();
std::set<std::string> topics;

BOOST_FOREACH(const rosbag::ConnectionInfo *info, connection_infos) {
  topics.insert(info->topic);
}

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