Yes. This capability is provided in DDS by means of special "built-in" Topics which the application can read.

The DDS specification defines four "builtin-topics" named:  "DDSParticipant", "DCPSTopic", "DCPSPublication", and "DCPSSubscription"

The DDS middleware contains a builtin subscriber and pre-created DataReaders for these Topics. The builtin subscriber can be retrieved using the get_builtion_subscriber() operation on a DomainParticipant and the pre-created data readers can be retrieved using the lookup_datareader() operation on the builtin subscriber.

Data read on these builtin DataReaders represent the presence and discovery of other DomainParticipants, Topics, DataWriters and DataReaders on the network.