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I'm not aware of such functionality at the moment, although it should be fairly easy to write with the Rosbag Code API and the OpenCV read/write functionality from video in the high gui. This needs to be converted to a rosimage using the cv_bridge. I'm also interested in writing a package that does this for video in both directions, so if you need help. There is an option of doing this with rosbag play/record and a second image_saver node, but as far as I know there's no integrated solution. For audio you could have a look at Morgan's audio_capture stack.