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as you suggest, I think if you wrote a node that reads your csv file, and then publishes the information across a topic to ros-bag that would be the simplest way to do this. It may be slow, but I guess you could play with the publishing rate, or the way you structure your messages.
As for ensuring your time stamps are correct, ros::time has two elements ros::time::nsecs and ros::time::secs, plus a number of other functions that you can use to place your csv time in the message.header.stamp value. It seems you may have tried this as well, did the timestamps not come through correctly?
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