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The usual method for saving ROS messages for later processing is via the rosbag record command.

For velodyne data, it's better to record the /velodyne_packets topic published by the driver. Those messages contain all the data that are subsequently published as a point cloud, but in much more compact form.

For your camera images, you may want to consider saving their compressed format:

http://wiki.ros.org/image_transport#Published_topics

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