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I think you know already the answer. Because each node only communicate between each other, there is no central data storage.

So you have to communicate to each other, to get the messege, or record all traffic.

So you may use the network traffic recording and may this plugin/filter for Wireshark help you to filter the message. https://www.wireshark.org/docs/dfref/t/tcpros.html You look for. As you know it afterwards.

As a robot consists of drifferent parts, you normally look only at one part and try to fix it and then look at the next part. And one part generate normal not mutch data(as log it is not video streams or velodymes) but you also know which data you need befor the test.