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If all the Raspberry Pi are on the same network and the same ROS master, you will be able to see all the topics from the master. So there will be no issue to use rosbag record on the master to record all the needed topics. But the WiFi bandwidth may be the bottleneck.

Their was a presentation about managing several robots and each one recording bags this year at the ROSCONfr. But it is in french: https://vimeo.com/343808336

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