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You can do this using the rosbag API but it's not the easiest thing in the world, there are a range of examples here. If you back file only contains one or a small number of topics then you can hard code those in.

The rosbag API allows you to open the bag file view it's contents and extract messages in whatever order you want. Using this could you could create your own playback node which can play, pause and rewind. Alternatively you could play the bag file back in non-real time, so you could spend as long as you want processing a message without missing any of the following messages.

Hope this helps.