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You can use the python client library and ask for the topics for each node: using get_publisher_names_and_types_by_node iterating through each node on the system which is available via get_node_names

Both are documented in the rclpy Node API:

We don't appear to have the straight API for asking for the list from all nodes on the system, which I think would be a nice enhancement PR if someone would wish to do that.