Exactly, as fulfilling these interfaces does not require a daemon, but it will work with ros2cli’s daemon.
There are quite a few discovery protocols out there, I’ll switch to using full names instead of acronyms when describing approaches.
I will create the pull requests that will expose subscribers and publishers per node and post them here since there does not seem to be any objection using DDS’ Simple Discover Protocol. Then I will demonstrate that capability with ros2cli node info verb.