I want to capture some sensor data (Velodyne VLP-16 lidar, Intel® RealSense camera, STIM300 IMU, and ublox GNSS module) at the same time. I know that I can use Time Synchronizer in the message filter package. But I have a problem with how to record the synchronized data? Should I use rosbag to record data? I would appreciate it if you, please help me.