.csv from point cloud in PX4 Avoidance simulation

for simulation purpose, I need to save the data get from the simulated camera in the local_planner_depth-camera with the PX4 avoidance simulation(https://github.com/PX4/avoidance).
Can somebody help me? Normally for debug purpose I use the > linux command to write the stream of data, but this time is different…
Do I have to write a new ROS node in order to do this or there is a more simple way?
Thanks in advance! :slightly_smiling_face: