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I made this mainly to have a generic way to subscribe to a couple of topics and check that they are synchronized to each other, but you can turn use_sync off if you don't want that:

https://github.com/lucasw/topic_state/blob/master/scripts/multi_echo.py

rosrun topic_state multi_echo.py /topic1 /topic2 /topic3

It won't expand the * for you but some command line processing of rostopic list output could do that in one (probably unwieldy) line- or modify multi_echo.py to do that internally.

Internally it uses AnyMsg to figure out the types of messages on the first stage then sets up regular callbacks for the second stage optionally using message_filters.TimeSynchronizer.