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@walid touzout, I believe rosbag could be the thing that you are looking for. While running the Gazebo or real world robot, you can record whichever topic you want into a bagfile as follows:
rosbag record -O bagfilename.bag /cmd_vel /robot_pose /other_topics_you_want..
I hope it helps! Don't forget to mark this comment as answer if it solves your problem.