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I wrote a function that calls glReadPixels and outputs an IplImage that is published on a topic, this is part of my openGL program. This is actually very easy to implement in your own program.

As GLC is a wrapper it should be possible to adjust GLC and input it in a rosnode. I assume you want the argument program to be inputted as a parameter. Personally I went for the readpixels path as I didn't see a use-case for this approach.