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Thanks for your help. I did consider adding flags to mark valid or unvalid data, and I think this is an option, but it is not very elegant since it involves having additional code to check the flags and using rosbag to log the topic this way (with alternating invalid fields of the message) could produce hard to read telemetry files.

The example I gave is a simple one, in reality we'll have about 3 nodes with a total of 15 channels that we'd like to capture in one topic /sensorData. To make it clean, i'd rather not have 3 separate topics going to the rest of the system but instead have these all bundle together into one /sensorData and then pass this to other nodes that perform control, health monitoring etc.

However, i'll look into using message_filters or the scancallback method.