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https://github.com/lucasw/screen_grab captures a parameter defined area of the screen and publishes it as a ros image. From there the image can be recorded to a bag and then exported to a video http://wiki.ros.org/rosbag/Tutorials/Exporting%20image%20and%20video%20data .

The other approach is publishing an image from a camera within rviz (if it isn't necessary to capture the user interface, or annoying to adjust the window position and screen capture settings to match each other). There isn't a good way to do that yet but there are some possibilities that might not take too much development http://answers.ros.org/question/142351/publishing-virtual-camera-images-from-rviz/