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The obvious non-answer is to use python. It's almost trivial to do what you ask in python. Assuming that python won't work, you might want to look at the rosbag code. It is written in C++ and uses a shapeShifter message type to generically read and write messages in binary format. Here is a link to the shape shifter documentation ( http://docs.ros.org/hydro/api/topic_tools/html/classtopic__tools_1_1ShapeShifter.html ).