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rosbag topics out of order

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Indigo, Linux Mint 17 I'm using the commandline rosbag utility to record various topics. I have two topics /topic1 and /topic2. Topic1 is published before Topic2, like so: if state==new_state: publish_topic_1() publish_topic_2(state) So topic1 publishes when we are in the new_state and topic2 just publishes the state, whatever it happens to be. After recording I inspect the bag with rqt_bag. I expect to see topic1 always preceding topic2 switching from another state to "new_state". However, this is not what I see. I often will see topic2 transition to "new_state" before topic1 appears. If I explicitly add a sleep statement after publishing topic1 then they appear in the order I expect. So: - What should I expect for timing topics? Should I expect them to be received and recorded in order? My understanding was that rosbag would handle synchronization of all my data streams. - Does adding a Header to each msg type help? - Is everything fine and rqt_bag is just broken? Does it all come to the limitations of record/playback as described here? http://wiki.ros.org/ROS/Tutorials/Recording%20and%20playing%20back%20data#rosbag.2BAC8-Tutorials.2BAC8-Recording_and_playing_back_data.The_limitations_of_rosbag_record.2BAC8-play If so, does anyone have a solution for ensuring accurate timing in a rosbag? Writing it directly myself rather than publishing and letting rosrecord pick it up?

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