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answered 2017-05-05 11:45:46 -0500
On gazebo 2 and earlier, there is a gztopic command that provides this functionality. There are also the commands: gzstats, gzsdf, gzlog, and gzfactory (list of executable commands in CMakeLists.txt as of 2.2.3).
gztopic
gzstats
gzsdf
gzlog
gzfactory