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There is a solution where you can playback a bag file with perfectly accurate 'simulated' time, but not real time. The rosbag API provides the tools to make a node which can scan a read messages out of a bag file in any order or at any time. Using this package you can make a node which can read out and process the data with the exact time-stamps in the bag file, regardless of the actual real time taken to do the processing.

Hope this help.s