Usually, when we work with robotic systems, the resources are shared, not always available, or the experiments cannot be done regularly because of the cost or time required for preparing and performing them or because they are difficult to reproduce. For this reason, it is a good practice to record the data of the experiment session for later analysis and to work, develop, and test our algorithms. However, the process of saving good data so that we can reproduce the experiment offline is not trivial. Fortunately, in ROS, we have powerful tools that have already solved this problem.

ROS can save all the messages published on any topic. It has the ability to create a bag file that contains the messages as they are with all their fields and timestamps. That allows the reproduction of the experiment offline with its real conditions on the robot as the latency of messages transmission. What's more, ROS tools do all this efficiently, with a high bandwidth, and in an...