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As guessed by felix k before this is intended behavior of rostopic echo. It subscribes to parent topics and attempts to extract field names with that name from the messages.
When the subscription is performed in a node it will not auto magically subscribe to the parent topic. You can try the following Python script sub.py with the argument /parent or /parent/child instead of invoking rostopic:
#!/usr/bin/env python
import sys
import rospy
from std_msgs.msg import String
def callback(data):
rospy.loginfo(rospy.get_caller_id() + 'Incoming message: %s',data.data)
rospy.init_node('listener', anonymous=True)
rospy.Subscriber(sys.argv[1], String, callback)
rospy.spin()
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