When in a non-Headless Simulation, a list of published and subscribed topics can be found in the Simulator menu (plug icon).
At the top of the menu is the selected vehicle.
The bridge status can be:
The bridge address is the same that was entered as the
Bridge Connection String when creating the Simulation.
Each topic is then listed in the following format:
SUB: indicates if the Simulator publishes or subscribes to messages on this topic
Topic: is the topic that the messages are published/subscribed to
Type: is the message type on this topic
Count: is the total number of messages published/received when the bridge was connected