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rosbag will not modify timestamp data inside the bag file. However it will publish as accurately as possible related to the receive time during the playback. Two parallel message topics are not synchronized or guarenteed in order. Going through rosbag adds another layer of complexity.

The recommended approach to synchronize parallel topics is a message_filter based synchronizer: http://wiki.ros.org/message_filters#Policy-Based_Synchronizer_.5BROS_1.1.2B-.5D

There are standard filters for ExactTime Policy as well as ApproximateTIme documented there.

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