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There is a tool for loggin data into mongodb for later processing. The data is fetched from selected topics or all topics when running a ROS process. The logging tool is from the package mongodb_log.

Using a properly set up ros environment, get the patched sources using instructions below;

rosws set ros_mongodb_log --git https://github.com/makokal/ros-mongodb_log.git
rosws update
# source bash
rosmake ros_mongodb_log
# install any missing deps

Run the logger node

rosrun ros_mongodb_log mongodb_log -a # record all topics or specify required ones
# use the tool mongodb_rdd to check