RViz Screenshot Loop

If the task is not RViz-specific, use gui-screenshot-loop instead.

When To Use

• You need to see RViz or other GUI state while debugging ROS.
• You want to verify fixed frame, display status, or visual artifacts after running ROS commands.

Prereqs

• X11 session.
• MCP server screenshot is configured in ~/.codex/config.toml and points to ~/.codex/mcp-servers/screenshot/server.py.

Quick Discovery

• List monitors: xrandr --listmonitors
• List windows: wmctrl -l
• Find RViz windows: xdotool search --name '.*RViz.*'

Tool Calls (MCP)

Use the MCP tool screenshot.screenshot:

• Full screen:
  • {"mode":"full"}
• Monitor by index:
  • {"mode":"monitor","monitor":1}
• Monitor by name:
  • {"mode":"monitor","monitor_name":"DP-2"}
• Window by title (if multiple matches, provide index):
  • {"mode":"window","window_title":"RViz","window_index":0}
• Window by id (most reliable):
  • {"mode":"window","window_id":"0x064001f6"}
• Region:
  • {"mode":"region","x":2600,"y":50,"width":1800,"height":1000}

Optional:

• max_width=0 to keep full resolution.

Workflow

1. Run your ROS or sim command.
2. Capture RViz with mode="window" (prefer window_id).
3. Read the RViz text/status (Global Status, TF, fixed frame, PointCloud status).
4. If the user asked for sim bringup, use sim-startup skill first, then capture RViz.
5. If debugging TF or topics, use ros2-debugging skill first, then capture RViz to confirm.

Failure Handling

• If window title matches multiple IDs, pick the correct one from wmctrl -l and use window_id.