Is there a possibility in ROS to check that in the other machine messages publish in the topic without direct transfer of messages between the machines?

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If you want statistics on topic rate for monitoring and alerting, you may want to set up the ROS diagnostics framework and use the DiagnosedPublisher class from the diagnostic_updater package.

If you want to monitor aggregate statistics on the entire topic graph and you don't need monitoring or alerting, you may want to enable topic_statistics and use rqt_graph to measure the publish rate: http://wiki.ros.org/rqt_graph#Topic_s... (note that this only works for topics that are actually published and subscribed, because it's per-link and not per-publisher)