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Looking at the documentation for tango_ros_streamer, I see that it outputs a lot of data, including some high-bandwidth topics like point clouds and images. When you are recording all of the ROS messages with rosbag record -a, you may be recording data faster than your hard drive can store it, causing rosbag record to drop messages. There are a few ways you could solve that problem:

• If you don't need all of the data (you only mention looking at the images), you can specify only those topics to record.
• If you're recording to a platter hard drive, you could try switching to a solid state drive.
• You might also be able to improve recording performance by increasing the buffer size. For example, rosbag record -a --buffersize=1024 quadruples the message buffer during recording. For more information, see the rosbag command line documentation.