ros如何获取topic中的md5sum及类型等

    string doQueue(const ros::MessageEvent<topic_tools::ShapeShifter const>& msg_event, string const& topic, shared_ptr<ros::Subscriber> subscriber, shared_ptr<int> count) {

        static int once = 0;
        ros::Time rectime = ros::Time::now();
        rosbag::OutgoingMessage  out(topic, msg_event.getMessage(), msg_event.getConnectionHeaderPtr(), rectime);

        std::cout<<"topic MD5:  "<<out.msg->getMD5Sum()<<"  dataType:   "<<out.msg->getDataType()<<
                   " getMessageDefinition   "<<out.msg->getMessageDefinition()<<
                   "    size:    "<<out.connection_header->size()
                <<std::endl;
        if(once==0)
        {
            ros::NodeHandle node;
            if(static_cast<std::string>(ros::message_traits::MD5Sum<msgs_ht::Track_Control>::value()) ==out.msg->getMD5Su