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As there is no answer, I am sharing how I solved it back then.

I decided to create a shell script to handle the screenshots. During the execution, ROS node (C++ program) calls the shell file with a system call:

string path_str = ros::package::getPath("package_name");
string cmd_str = path_str+"/src/capture_screenshot.sh";

// add path and name arguments
cmd_str += " -p " + path_str + "/output";
cmd_str += " -n " + name_str;

// call the script program
system(cmd_str.c_str());

Shell script parses the arguments to create output file's path and captures Gazebo's screen:

# read arguments etc...

mkdir -p ${OUTPUT_PATH}

# take the screenshot
import -window Gazebo "${OUTPUT_PATH}/${OUTPUT_NAME}.jpg"

You can use additional arguments to tell script to create a new folder or not. Hope it will be helpful.