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I think most of what you're asking for can be done with rostopic:

rostopic bw display bandwidth used by topic
rostopic hz display publishing rate of topic    
rostopic echo   print messages to screen

Code would be needed for the output of rostopic echo -p /topic. From this you can use any language of your choice to determine jitter in the timestamp of message.

Lag would have to be derived by some type of time difference.. so without more information I have no suggestions for that one.