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You can also try this code :)

ros::master::V_TopicInfo master_topics;
ros::master::getTopics(master_topics);

for (ros::master::V_TopicInfo::iterator it = master_topics.begin() ; it != master_topics.end(); it++) {
    const ros::master::TopicInfo& info = *it;
    std::cout << "Topic : " << it - master_topics.begin() << ": " << info.name << " -> " << info.datatype <<       std::endl;
}

You can also try this code :)

ros::master::V_TopicInfo master_topics;
ros::master::getTopics(master_topics);

for (ros::master::V_TopicInfo::iterator it = master_topics.begin() ; it != master_topics.end(); it++) {
    const ros::master::TopicInfo& info = *it;
    std::cout << "Topic : " << it - master_topics.begin() << ": " << info.name << " -> " << info.datatype <<       std::endl;
}

See also here: https://answers.ros.org/question/108176/how-to-list-all-topicsservices-that-are-known-by-the-server-with-roscpp/

However if someone knows how to do that with rospy let me know ! :)