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Simulating real camera data

Hi guys,

Is there a way I can simulate camera data similarly to how rosbag works? I tried rosbag but was missing tf data so that didn't work.

is it as simple as adding another topic to record? looking through the available topics I don't see anything that looks like what I need.

In essence what I want to do is, record the data stream of my cameras to pass to my perception pipeline so I can start working on making the robot move to a pick location. I'd like to work at my desk if possible and not at the robot since there isn't much room for my laptop there.

Thanks