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You should be able to get it with ros::master::execute(). Use getPublishedTopics or getSystemState as the method.

For reference. http://docs.ros.org/en/indigo/api/roscpp/html/namespaceros_1_1master.html#a6148ee923ef1602d2093daff82573043 https://gist.github.com/bechu/6222399 http://docs.ros.org/en/melodic/api/rosmaster/html/rosmaster.master_api.ROSMasterHandler-class.html#getPublishedTopics

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