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Just found the solution.
Use --verbose like this:
$ ros2 topic info --verbose /odom
Type: nav_msgs/msg/Odometry
Publisher count: 0
Subscription count: 1
Node name: controller_server
Node namespace: /
Topic type: nav_msgs/msg/Odometry
Endpoint type: SUBSCRIPTION
GID: 01.0f.17.62.fa.9e.00.00.01.00.00.00.00.00.8d.04.00.00.00.00.00.00.00.00
QoS profile:
Reliability: RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT
Durability: RMW_QOS_POLICY_DURABILITY_VOLATILE
Lifespan: 2147483651294967295 nanoseconds
Deadline: 2147483651294967295 nanoseconds
Liveliness: RMW_QOS_POLICY_LIVELINESS_AUTOMATIC
Liveliness lease duration: 2147483651294967295 nanoseconds
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