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how can I record the same number of massages from different topics?

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I want to build a database that takes each image with its joy and IMU (angles) data, so I need to receive the same number of messages for each topic to have a synchronized data. I run the below command in order to record RGB images, depth images, joystick commands, and IMU data. $> rosbag record -O subset /camera/depth/image_raw /camera/rgb/image_raw /joy /mobile_base/sensors/imu_data_raw then $> rosbag info subset.bag which show me the information about my recorded bag file > path: subset.bag> version: 2.0> duration: 21.9s> start: Mar 11 2018 16:31:17.29 (1520771477.29)> end: Mar 11 2018 16:31:39.20 (1520771499.20)> size: 857.5 MB> messages: 3113> compression: none [605/605 chunks]> types: sensor_msgs/Image [060021388200f6f0f447d0fcd9c64743] sensor_msgs/Imu [6a62c6daae103f4ff57a132d6f95cec2] sensor_msgs/Joy [5a9ea5f83505693b71e785041e67a8bb]> topics: /camera/depth/image_raw 652 msgs : sensor_msgs/Image /camera/rgb/image_raw 540 msgs : sensor_msgs/Image /joy 991 msgs : sensor_msgs/Joy /mobile_base/sensors/imu_data_raw 930 msgs : sensor_msgs/Imu as you see there are a diffrente number of messegas for each topic. So, how can I receive the same number of it? and one more thing any help please? Thanks in advance

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