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ROS 2 Crystal does have that information: MessageClass.get_fields_and_field_types() (see https://github.com/ros2/rosidl_python/blob/0f5c8f360be92566ad86f4b29f3db1febfca2242/rosidl_generator_py/resource/_msg.py.em#L202-L203)

Note that the API and returned information for this kind of introspection is likely going to change in the next ROS 2 release (Dashing) so check the migration in the future to check for information.

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