I started writing a prototype of the approach discussed in this thread. But then Work<sup>tm</sup> had other ideas, as it so often seems to.
The code is up on Github. It's nowhere near complete, but perhaps there is enough to see where I was going. It's not just rostopic, it's intended to be a complete set of command line tools for working with the ROS graph.
I still want to keep working on it myself, but I think progress would be faster as a group effort.
https://github.com/gbiggs/ros2graphtools
Having said that, there has been activity recently on the ros2 github to implement a rosnode tool directly, so perhaps this work is moot.
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