First Solution:
First you can request all schemas by :
/schemas
The response is an array of object which each one contain a subject field that represent typically your topic name.
{
"schema":{"type": "string"},
"subject": "your target topic"},
"version": "version number",
"schema": {}, // schema that you are looking for
"id": "id"
}
Second Solutions:
/subjects/${your topic name }/versions/
The response is an array of versions ids like:
[1,2,3,..]
And you have to fetch for each version the wanted schema as:
/subjects/${your topic name }/versions/version // 1,2,3 etc
Check the schema registry rest api doc here