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Currently there is no way to get this information in the rclcpp or rclpy API.
I'm am pretty sure the information is available in the lower level middleware interface, so it would just need to be exposed through our middleware abstraction layer. Unfortunately this can be a tedious thing to do, but if you're interested I'd recommend opening an issue on the ros2/rmw repository or on the ros2/ros2 repository asking for this feature.
This feature is related to a series of other features which generally have to do with providing more information from the underlying middleware about the entities in the ROS graph, e.g. ability to associate publishers/subscriptions and the nodes that created them or which machine and process a node comes from.
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