AgentSkillsCN

rviz-screenshot-loop

通过MCP捕获RViz/GUI截图，为ROS调试闭环添砖加瓦。当您需要在RViz或其他窗口中进行可视化验证时，可调用此技能。

SKILL.md
--- frontmatter
name: rviz-screenshot-loop
description: Capture RViz/GUI screenshots via MCP to close the loop while debugging ROS. Use when you need visual verification in RViz or other windows.

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.