Capture the screen and publish it on a ROS sensor_msgs/Image topic
Currently this runs as a nodelet.
screengrab.launch shows an example launch file, it will probably need to be copied and altered for integration in a real system.
roslaunch screen_grab screengrab.launch
A nodelet image display window will also pop up showing the captured image of the screen, and of course rqt_image_view or any image subscriber can be used.
The built package is available for jade:
sudo apt-get install ros-jade-screen-grab
But building for hydro and indigo ought to work.
A video of an earlier version: https://www.youtube.com/watch?v=Ys9BN4mJ_yc
Some discussion is here: https://plus.google.com/+LucasWalter/posts/f7fLhyWL3A4