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Hi,

I'm in a similar scenario, where I have recorded a ROS Bag and then want to use it but want to stop at some selected images, do some processing, then only proceed. Sadly, I don't see a way using ROS.

But you can do this -

1. Play the ROS bag.
2. convert it to a video using ROS video_recorder ( See this )
3. Change your program (using something like openCV) to open the video file and using something like cv::waitKey(0) to pause the video from within your program.

Hope this helps.