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Picking from many of the answers here, I've come up with a class and ROS node to control recording start, stop and pause. Find it here.

You can either import the class and use it directly in your code or start the node standalone and use service calls to control recording.

There is a problem with pausing where, sometimes, some of the messages get their timestamps wrong after resuming recording. Unfortunately, I don't have the time to debug it now. Start and stop seem to work fine.

Tested with Ubuntu 16 and Kinetic.