Community member snafu666 posted a pipeline to save to local storage. One thing to be aware is that the microSD cards on the Jetsons may not be able to handle the storage bandwidth, so you’ll need to use an SSD.
Live Streaming over USB on Ubuntu and Linux, NVIDIA Jetson - #220 by craig
I’m not familiar with the ROS bag format.
Mobile phones use the Camera Motion Metadata Specification to store IMU data.
Hopefully, other people can provide insight into the ROS bag format and the simulated clock