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It depends on how you would like store the data.

The most simple approach I can think of is to modify the python listener code from the ros wiki to subscribe to the topic you need and write it out in your desired format (ascii?): http://www.ros.org/wiki/ROS/Tutorials/WritingPublisherSubscriber%28python%29#rospy_tutorials.2BAC8-Tutorials.2BAC8-WritingPublisherSubscriber.Writing_the_Subscriber_Node

Otherwise you could use the octave ros-client, to receive the data within your matlab code. I don't know much about that though.

It depends on how you would like store the data.

The most simple approach I can think of is to modify the python listener code from the ros wiki to subscribe to the topic you need and write it out in your desired format (ascii?): http://www.ros.org/wiki/ROS/Tutorials/WritingPublisherSubscriber%28python%29#rospy_tutorials.2BAC8-Tutorials.2BAC8-WritingPublisherSubscriber.Writing_the_Subscriber_Node

Otherwise you could use the octave ros-client, to receive the data within your matlab code. I don't know much about that though.

It depends on how Edit, because the answer by Lorenz is better than my previous suggestion: If you would like store the data.

The most simple approach I can think of is want to modify the python listener code from the ros wiki to subscribe to the topic you need and write it out in your desired format (ascii?): http://www.ros.org/wiki/ROS/Tutorials/WritingPublisherSubscriber%28python%29#rospy_tutorials.2BAC8-Tutorials.2BAC8-WritingPublisherSubscriber.Writing_the_Subscriber_Node

Otherwise you could use the octave ros-client, to receive the data within your matlab code. I don't know much about that though.parse a bagfile yourself this might be interesting: http://www.ros.org/wiki/Bags/Format/2.0

Btw: It would be really cool if there was some kind of converter from bag-files to yaml or xml files.