diff --git a/.gitignore b/.gitignore
index 9a87efd1..be65972e 100644
--- a/.gitignore
+++ b/.gitignore
@@ -3,6 +3,7 @@
 target
 node_modules
 .cargo
+.venv-mcp/
 compile_commands.json
 _*
 !crates/ros-z-py/python/**/__init__.py
@@ -61,3 +62,9 @@ core
 
 # Cached nix dev shell environment (generated by sandbox.nu)
 .state/
+
+# Demo video output (generated by scripts/demos/generate.nu)
+scripts/demos/results/
+
+# TUI test output (generated by tests/run-vhs-tests.nu)
+tests/results/
diff --git a/book/src/SUMMARY.md b/book/src/SUMMARY.md
index 9dcacaa0..b345b3c4 100644
--- a/book/src/SUMMARY.md
+++ b/book/src/SUMMARY.md
@@ -31,6 +31,7 @@
 # Tools
 
 - [ros-z-console](./chapters/console.md)
+  - [TUI Demos](./chapters/console-demos.md)
 
 # Language Bindings
 
diff --git a/book/src/chapters/console-demos.md b/book/src/chapters/console-demos.md
new file mode 100644
index 00000000..a3abf771
--- /dev/null
+++ b/book/src/chapters/console-demos.md
@@ -0,0 +1,82 @@
+# ros-z-console TUI Demos
+
+These demos use the classic `z_pubsub` (talker/listener) and `z_srvcli` (AddTwoInts server)
+examples as a live ROS 2 system.
+
+**Setup:**
+
+```bash
+# Terminal 1
+zenohd
+
+# Terminal 2
+ros-z-console tcp/127.0.0.1:7447 0
+```
+
+---
+
+## Startup
+
+ros-z-console connects to the Zenoh router and discovers all live entities in the graph.
+
+![ros-z-console connecting to a ROS 2 system and discovering topics and nodes](../img/01-startup.gif)
+
+---
+
+## Topics Panel
+
+The Topics panel (default) lists all active ROS 2 topics with their type and publisher/subscriber counts.
+Navigate with `j` / `k` (or arrow keys). Press `l` or `Enter` to open the detail pane.
+
+![Browsing the topics list in ros-z-console](../img/02-navigation.gif)
+
+---
+
+## Topic Detail
+
+Select a topic and press `l` or `Enter` to view publishers, subscribers, type hash, and QoS profiles.
+
+![Topic detail view showing publishers, subscribers and QoS](../img/05-topic-detail.gif)
+
+---
+
+## Services Panel
+
+Press `2` (or `Tab`) to switch to the Services panel. Lists all active ROS 2 services with their type.
+
+![Services panel listing active ROS 2 services](../img/06-services.gif)
+
+---
+
+## Nodes Panel
+
+Press `3` to switch to the Nodes panel. Lists all active nodes. Select a node and press `l` or `Enter`
+to see its publishers, subscribers, and services.
+
+![Nodes panel with per-node topic and service associations](../img/07-nodes.gif)
+
+---
+
+## Rate Measurement
+
+Press `r` on a selected topic for a quick rate check (cached 30s). Switch to the Measure panel
+(`4` or `m`) for a continuous measurement with a 60-second time-series chart.
+
+![Rate measurement and time-series chart in ros-z-console](../img/08-measurement.gif)
+
+---
+
+## Filter Mode
+
+Press `/` to enter filter mode and start typing. The list narrows to matching items in real time.
+Press `Ctrl+U` to clear, `Escape` to exit filter mode.
+
+![Filter mode with type-ahead search in ros-z-console](../img/03-filter.gif)
+
+---
+
+## Help Overlay
+
+Press `?` to toggle the help overlay showing all keybindings.
+
+![Help overlay showing all keybindings in ros-z-console](../img/04-help.gif)
diff --git a/book/src/chapters/console.md b/book/src/chapters/console.md
index 06b577cf..302b5775 100644
--- a/book/src/chapters/console.md
+++ b/book/src/chapters/console.md
@@ -165,6 +165,8 @@ The interactive terminal interface provides:
 TUI mode requires a terminal that supports ANSI escape codes. Most modern terminals work out of the box.
 ```
 
+See [TUI Demos](./console-demos.md) for annotated walkthroughs of each workflow.
+
 ### Headless Mode
 
 Headless mode streams events to stdout, making it ideal for:
diff --git a/book/src/img/01-startup.gif b/book/src/img/01-startup.gif
new file mode 100644
index 00000000..a2af606d
Binary files /dev/null and b/book/src/img/01-startup.gif differ
diff --git a/book/src/img/02-navigation.gif b/book/src/img/02-navigation.gif
new file mode 100644
index 00000000..db0590f1
Binary files /dev/null and b/book/src/img/02-navigation.gif differ
diff --git a/book/src/img/03-filter.gif b/book/src/img/03-filter.gif
new file mode 100644
index 00000000..4cc9ad8a
Binary files /dev/null and b/book/src/img/03-filter.gif differ
diff --git a/book/src/img/04-help.gif b/book/src/img/04-help.gif
new file mode 100644
index 00000000..85f26849
Binary files /dev/null and b/book/src/img/04-help.gif differ
diff --git a/book/src/img/05-topic-detail.gif b/book/src/img/05-topic-detail.gif
new file mode 100644
index 00000000..06f31c4f
Binary files /dev/null and b/book/src/img/05-topic-detail.gif differ
diff --git a/book/src/img/06-services.gif b/book/src/img/06-services.gif
new file mode 100644
index 00000000..e428504a
Binary files /dev/null and b/book/src/img/06-services.gif differ
diff --git a/book/src/img/07-nodes.gif b/book/src/img/07-nodes.gif
new file mode 100644
index 00000000..6c707d2f
Binary files /dev/null and b/book/src/img/07-nodes.gif differ
diff --git a/book/src/img/08-measurement.gif b/book/src/img/08-measurement.gif
new file mode 100644
index 00000000..341b35aa
Binary files /dev/null and b/book/src/img/08-measurement.gif differ
diff --git a/crates/ros-z-console/src/app/render/nodes.rs b/crates/ros-z-console/src/app/render/nodes.rs
index 46a1afd1..c0e9a201 100644
--- a/crates/ros-z-console/src/app/render/nodes.rs
+++ b/crates/ros-z-console/src/app/render/nodes.rs
@@ -30,7 +30,12 @@ impl App {
                 let style = list_item_style(i == self.selected_index);
 
                 // Format: "* <namespace>/<name>"
-                let full_name = format!("{}/{}", namespace, name);
+                // When namespace is "/" (root), avoid producing "//name"
+                let full_name = if namespace == "/" {
+                    format!("/{}", name)
+                } else {
+                    format!("{}/{}", namespace, name)
+                };
                 let icon_width = 2; // "* "
                 let node_max_width = list_width.saturating_sub(icon_width);
                 let display_node = truncate_with_ellipsis(&full_name, node_max_width);
@@ -68,14 +73,26 @@ impl App {
             return "No node selected".to_string();
         };
 
-        let node_key = (namespace.clone(), name.clone());
+        // Normalize namespace for HashMap lookup: graph stores root nodes under "" not "/"
+        let normalized_ns = if namespace == "/" {
+            String::new()
+        } else {
+            namespace.clone()
+        };
+        let node_key = (normalized_ns, name.clone());
         let publishers = graph.get_names_and_types_by_node(node_key.clone(), EntityKind::Publisher);
         let subscribers =
             graph.get_names_and_types_by_node(node_key.clone(), EntityKind::Subscription);
         let services = graph.get_names_and_types_by_node(node_key.clone(), EntityKind::Service);
         let clients = graph.get_names_and_types_by_node(node_key, EntityKind::Client);
 
-        let mut detail = format!("Node: {}/{}\n", namespace, name);
+        // Display format: avoid "//name" when namespace is "/"
+        let display_path = if namespace == "/" {
+            format!("/{}", name)
+        } else {
+            format!("{}/{}", namespace, name)
+        };
+        let mut detail = format!("Node: {}\n", display_path);
 
         let show_types = self.detail_state.publishers_expanded;
         let expand_hint = if show_types { "[-]" } else { "[+]" };
diff --git a/crates/ros-z-console/src/core/engine.rs b/crates/ros-z-console/src/core/engine.rs
index af8977a5..f12ac8d0 100644
--- a/crates/ros-z-console/src/core/engine.rs
+++ b/crates/ros-z-console/src/core/engine.rs
@@ -8,12 +8,12 @@ use std::{
 };
 
 use parking_lot::Mutex;
-use ros_z::{Builder, context::ZContext, graph::Graph, node::ZNode};
+use ros_z::{
+    Builder, context::ZContext, dynamic::DynamicTopicSubscriber, graph::Graph, node::ZNode,
+};
 use tokio::sync::broadcast;
 
-use super::{
-    dynamic_subscriber::DynamicTopicSubscriber, events::SystemEvent, metrics::MetricsCollector,
-};
+use super::{events::SystemEvent, metrics::MetricsCollector};
 
 #[derive(Debug, Clone, Copy, PartialEq, Eq, Default)]
 pub enum Backend {
diff --git a/crates/ros-z-console/src/core/mod.rs b/crates/ros-z-console/src/core/mod.rs
index 585ee335..ae0204cd 100644
--- a/crates/ros-z-console/src/core/mod.rs
+++ b/crates/ros-z-console/src/core/mod.rs
@@ -1,6 +1,4 @@
-pub mod dynamic_subscriber;
 pub mod engine;
 pub mod events;
 pub mod logger;
-pub mod message_formatter;
 pub mod metrics;
diff --git a/crates/ros-z-console/src/main.rs b/crates/ros-z-console/src/main.rs
index 50674865..a52da551 100644
--- a/crates/ros-z-console/src/main.rs
+++ b/crates/ros-z-console/src/main.rs
@@ -12,7 +12,9 @@ use app::{
 };
 use clap::{Parser, ValueEnum};
 use crossterm::{
-    event::{self, DisableMouseCapture, EnableMouseCapture, Event, KeyCode, KeyModifiers},
+    event::{
+        self, DisableMouseCapture, EnableMouseCapture, Event, KeyCode, KeyEventKind, KeyModifiers,
+    },
     execute,
     terminal::{EnterAlternateScreen, LeaveAlternateScreen, disable_raw_mode, enable_raw_mode},
 };
@@ -158,9 +160,10 @@ async fn run_tui_loop(
             return Ok(());
         }
 
-        // Poll for events with timeout
+        // Poll for events with timeout (ignore Release events to prevent double-dispatch)
         if event::poll(Duration::from_millis(POLL_TIMEOUT_MS))?
             && let Event::Key(key) = event::read()?
+            && key.kind != KeyEventKind::Release
         {
             handle_key_event(app, key).await?;
         }
diff --git a/crates/ros-z-console/src/modes/headless.rs b/crates/ros-z-console/src/modes/headless.rs
index 7e3377f1..3c016843 100644
--- a/crates/ros-z-console/src/modes/headless.rs
+++ b/crates/ros-z-console/src/modes/headless.rs
@@ -2,11 +2,9 @@ use chrono::Utc;
 use serde::Serialize;
 use std::{collections::HashMap, time::Duration};
 
-use crate::core::{
-    dynamic_subscriber::DynamicTopicSubscriber,
-    engine::CoreEngine,
-    message_formatter::{dynamic_message_to_json, format_message_pretty},
-};
+use ros_z::dynamic::{DynamicTopicSubscriber, dynamic_message_to_json, format_message_pretty};
+
+use crate::core::engine::CoreEngine;
 use ros_z::graph::GraphSnapshot;
 
 /// Wrapper for initial state that adds the event field
diff --git a/crates/ros-z-console/src/core/message_formatter.rs b/crates/ros-z/src/dynamic/formatter.rs
similarity index 98%
rename from crates/ros-z-console/src/core/message_formatter.rs
rename to crates/ros-z/src/dynamic/formatter.rs
index 896636bc..22a29dac 100644
--- a/crates/ros-z-console/src/core/message_formatter.rs
+++ b/crates/ros-z/src/dynamic/formatter.rs
@@ -2,9 +2,10 @@
 //!
 //! Provides JSON and human-readable text formatting for dynamic messages.
 
-use ros_z::dynamic::{DynamicMessage, DynamicValue};
 use serde_json;
 
+use crate::dynamic::{DynamicMessage, DynamicValue};
+
 /// Convert a DynamicMessage to a JSON value
 ///
 /// Recursively converts all fields, handling nested messages and arrays.
@@ -137,7 +138,7 @@ fn format_value_pretty(output: &mut String, name: &str, value: &DynamicValue, in
 #[cfg(test)]
 mod tests {
     use super::*;
-    use ros_z::dynamic::{FieldType, MessageSchema};
+    use crate::dynamic::{FieldType, MessageSchema};
 
     #[test]
     fn test_json_primitives() {
diff --git a/crates/ros-z/src/dynamic/mod.rs b/crates/ros-z/src/dynamic/mod.rs
index 2e028604..fc782fa5 100644
--- a/crates/ros-z/src/dynamic/mod.rs
+++ b/crates/ros-z/src/dynamic/mod.rs
@@ -55,11 +55,13 @@
 //! ```
 
 pub mod error;
+pub mod formatter;
 pub mod message;
 pub mod registry;
 pub mod schema;
 pub mod serdes;
 pub mod serialization;
+pub mod subscriber;
 pub mod type_description;
 pub mod type_description_client;
 pub mod type_description_service;
@@ -70,11 +72,13 @@ mod tests;
 
 // Re-export main types
 pub use error::DynamicError;
+pub use formatter::{dynamic_message_to_json, dynamic_value_to_json, format_message_pretty};
 pub use message::{DynamicMessage, DynamicMessageBuilder};
 pub use registry::{SchemaRegistry, get_schema, has_schema, register_schema};
 pub use schema::{FieldSchema, FieldType, MessageSchema, MessageSchemaBuilder};
 pub use serdes::DynamicSerdeCdrSerdes;
 pub use serialization::SerializationFormat;
+pub use subscriber::DynamicTopicSubscriber;
 pub use type_description::{MessageSchemaTypeDescription, type_description_msg_to_schema};
 pub use type_description_client::TypeDescriptionClient;
 pub use type_description_service::{
diff --git a/crates/ros-z-console/src/core/dynamic_subscriber.rs b/crates/ros-z/src/dynamic/subscriber.rs
similarity index 57%
rename from crates/ros-z-console/src/core/dynamic_subscriber.rs
rename to crates/ros-z/src/dynamic/subscriber.rs
index 4d5a55e9..22b9f579 100644
--- a/crates/ros-z-console/src/core/dynamic_subscriber.rs
+++ b/crates/ros-z/src/dynamic/subscriber.rs
@@ -1,19 +1,23 @@
-//! Dynamic topic subscriber for any ROS message type
+//! Async dynamic topic subscriber
 //!
-//! Provides automatic schema discovery and message reception for topics
-//! without compile-time knowledge of message types.
+//! Wraps a blocking [`ZSub`] with a flume channel so callers can poll
+//! messages from async contexts without blocking the executor.
 
 use std::{sync::Arc, time::Duration};
 
 use flume::Receiver;
-use ros_z::{
-    dynamic::{DynamicMessage, DynamicSerdeCdrSerdes, MessageSchema},
+use zenoh::sample::Sample;
+
+use crate::{
+    dynamic::{DynamicCdrSerdes, DynamicMessage, MessageSchema, MessageSchemaTypeDescription},
     node::ZNode,
     pubsub::ZSub,
 };
-use zenoh::sample::Sample;
 
-/// Manages subscription to a single topic with dynamic message types
+/// Manages subscription to a single topic with dynamic message types.
+///
+/// Automatically discovers the message schema via the type description service,
+/// then bridges the blocking [`ZSub`] to a [`flume`] channel for use in async code.
 pub struct DynamicTopicSubscriber {
     /// Topic name being subscribed to
     #[allow(dead_code)]
@@ -25,43 +29,36 @@ pub struct DynamicTopicSubscriber {
     /// Channel for receiving messages asynchronously
     message_rx: Receiver<DynamicMessage>,
     /// Subscriber handle (kept alive to maintain subscription)
-    _subscriber: Arc<ZSub<DynamicMessage, Sample, DynamicSerdeCdrSerdes>>,
+    _subscriber: Arc<ZSub<DynamicMessage, Sample, DynamicCdrSerdes>>,
 }
 
 impl DynamicTopicSubscriber {
-    /// Create a new dynamic subscriber with automatic schema discovery
+    /// Create a new dynamic subscriber with automatic schema discovery.
     ///
     /// # Arguments
     ///
     /// * `node` - ROS node with type description service enabled
-    /// * `topic` - Topic name to subscribe to (e.g., "/chatter")
+    /// * `topic` - Topic name to subscribe to (e.g., `/chatter`)
     /// * `discovery_timeout` - Maximum time to wait for schema discovery
     ///
     /// # Errors
     ///
-    /// Returns error if:
-    /// - No publishers found on topic within timeout
-    /// - Schema discovery fails
-    /// - Subscriber creation fails
+    /// Returns an error if no publishers are found within the timeout or if
+    /// schema discovery fails.
     pub async fn new(
         node: &ZNode,
         topic: &str,
         discovery_timeout: Duration,
     ) -> Result<Self, Box<dyn std::error::Error + Send + Sync>> {
-        // Use the node's auto-discovery method to get subscriber and schema
         let (subscriber, schema) = node.create_dyn_sub_auto(topic, discovery_timeout).await?;
 
-        // Compute type hash for informational purposes
-        use ros_z::dynamic::MessageSchemaTypeDescription;
         let type_hash = schema
             .compute_type_hash()
             .map(|h| h.to_rihs_string())
             .unwrap_or_else(|_| "unknown".to_string());
 
-        // Create channel for async message handling
         let (tx, rx) = flume::unbounded();
 
-        // Spawn background task to forward messages to channel
         let subscriber = Arc::new(subscriber);
         let sub_clone = subscriber.clone();
         tokio::task::spawn_blocking(move || {
@@ -69,7 +66,6 @@ impl DynamicTopicSubscriber {
                 match sub_clone.recv() {
                     Ok(msg) => {
                         if tx.send(msg).is_err() {
-                            // Receiver dropped, exit task
                             break;
                         }
                     }
@@ -90,29 +86,17 @@ impl DynamicTopicSubscriber {
         })
     }
 
-    /// Get the discovered message schema
+    /// Get the discovered message schema.
     pub fn schema(&self) -> &MessageSchema {
         &self.schema
     }
 
-    /// Get the RIHS01 type hash
+    /// Get the RIHS01 type hash.
     pub fn type_hash(&self) -> &str {
         &self.type_hash
     }
 
-    /// Receive the next message (blocking)
-    ///
-    /// Blocks until a message is available or the channel is closed.
-    #[allow(dead_code)]
-    pub fn recv(&self) -> Result<DynamicMessage, flume::RecvError> {
-        self.message_rx.recv()
-    }
-
-    /// Try to receive a message without blocking
-    ///
-    /// Returns `Ok(Some(msg))` if a message is available,
-    /// `Ok(None)` if no message is ready,
-    /// or `Err` if the channel is closed.
+    /// Try to receive a message without blocking.
     pub fn try_recv(&self) -> Result<Option<DynamicMessage>, flume::TryRecvError> {
         match self.message_rx.try_recv() {
             Ok(msg) => Ok(Some(msg)),
@@ -120,22 +104,4 @@ impl DynamicTopicSubscriber {
             Err(e) => Err(e),
         }
     }
-
-    /// Check if there are any messages waiting
-    #[allow(dead_code)]
-    pub fn has_messages(&self) -> bool {
-        !self.message_rx.is_empty()
-    }
-
-    /// Get the number of messages currently buffered
-    #[allow(dead_code)]
-    pub fn message_count(&self) -> usize {
-        self.message_rx.len()
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    // Note: Integration tests would require a running ROS system
-    // Unit tests are limited for this component
 }
diff --git a/flake.nix b/flake.nix
index 747d485c..e796c129 100644
--- a/flake.nix
+++ b/flake.nix
@@ -197,6 +197,8 @@
           gopls # Go language server
           gotools # Go tools (goimports, etc.)
           delve # Go debugger
+          vhs # Terminal recording (demo videos)
+          ttyd # Required by vhs for Set Shell tapes
         ];
 
         # Python tools (ros-z-py bindings)
diff --git a/scripts/demos/generate.nu b/scripts/demos/generate.nu
new file mode 100755
index 00000000..da922012
--- /dev/null
+++ b/scripts/demos/generate.nu
@@ -0,0 +1,143 @@
+#!/usr/bin/env nu
+
+# Demo video generator for ros-z-console TUI
+#
+# Usage: nu scripts/demos/generate.nu
+#
+# Builds binaries, starts Zenoh router + publisher for realistic data,
+# runs VHS on each tape, then cleans up background processes.
+
+const ROUTER = "tcp/127.0.0.1:7447"
+
+def main [] {
+    # Resolve worktree root from this script's location (scripts/demos/generate.nu → ../../)
+    let worktree = ($env.CURRENT_FILE | path dirname | path dirname | path dirname)
+    cd $worktree
+
+    # --- Preflight checks ---
+    for tool in ["vhs", "zenohd", "ttyd"] {
+        if (which $tool | is-empty) {
+            error make { msg: $"Required tool not found: ($tool). Run `nix develop` to enter the dev shell." }
+        }
+    }
+
+    # Kill any orphaned processes from previous runs (VHS leaks ttyd + chromium)
+    do -i { ^pkill zenohd }
+    do -i { ^pkill ttyd }
+    do -i { ^pkill -9 -f chromium }
+    sleep 2sec
+
+    # --- Build ---
+    print "Building ros-z-console..."
+    cargo build -p ros-z-console
+
+    print "Building z_pubsub example..."
+    cargo build --example z_pubsub
+
+    print "Building z_srvcli example..."
+    cargo build --example z_srvcli
+
+    mkdir scripts/demos/results
+    mkdir _tmp
+
+    # --- Start background processes ---
+    print "Starting zenohd..."
+    let zenohd_pid = (
+        ^bash -c $"zenohd > _tmp/zenohd-demo.log 2>&1 & echo $!"
+        | str trim
+        | into int
+    )
+    sleep 1sec
+
+    print "Starting z_pubsub talker..."
+    let pubsub_pid = (
+        ^bash -c $"./target/debug/examples/z_pubsub --role talker > _tmp/pubsub-demo.log 2>&1 & echo $!"
+        | str trim
+        | into int
+    )
+    sleep 1sec
+
+    print "Starting z_pubsub listener..."
+    let listener_pid = (
+        ^bash -c $"./target/debug/examples/z_pubsub --role listener > _tmp/listener-demo.log 2>&1 & echo $!"
+        | str trim
+        | into int
+    )
+    sleep 1sec
+
+    print "Starting z_srvcli server..."
+    let srvcli_pid = (
+        ^bash -c $"./target/debug/examples/z_srvcli > _tmp/srvcli-demo.log 2>&1 & echo $!"
+        | str trim
+        | into int
+    )
+    sleep 1sec
+
+    print $"zenohd PID: ($zenohd_pid)  z_pubsub PID: ($pubsub_pid)  listener PID: ($listener_pid)  z_srvcli PID: ($srvcli_pid)"
+
+    # --- Run tapes ---
+    let all_tapes = (ls scripts/demos/tapes/*.tape | get name | sort)
+
+    # 00-warmup.tape runs first to prime chromium/ttyd (cold-start latency absorber)
+    # Retry until chromium is ready (can take several attempts on cold start)
+    print "\nWarming up VHS (chromium cold start)..."
+    mut warmed = false
+    for attempt in 1..10 {
+        let ok = (try { ^vhs ($all_tapes | first); true } catch { false })
+        if $ok {
+            print $"  Ready after ($attempt) attempts"
+            $warmed = true
+            break
+        }
+        print $"  Attempt ($attempt) failed, retrying in 3s..."
+        sleep 3sec
+    }
+    if not $warmed {
+        print "  Warning: warmup never succeeded, proceeding anyway"
+    }
+
+    # Real tapes (skip 00-warmup)
+    let tapes = ($all_tapes | skip 1)
+
+    let results = ($tapes | each {|tape|
+        print $"\nRunning tape: ($tape)"
+        mut success = false
+        for attempt in 1..10 {
+            let ok = (try { ^vhs $tape; true } catch { false })
+            if $ok {
+                $success = true
+                break
+            }
+            print $"  Attempt ($attempt) failed, retrying in 3s..."
+            sleep 3sec
+        }
+        if $success {
+            print $"✅ ($tape)"
+            # Clean up leaked VHS processes between tapes to prevent RAM exhaustion
+            do -i { ^pkill -9 ttyd }
+            do -i { ^pkill -9 -f chromium }
+            sleep 5sec
+        } else {
+            print $"❌ ($tape)"
+        }
+        $success
+    })
+    let passed = ($results | where $it | length)
+    let failed = ($results | where { not $in } | length)
+
+    # --- Cleanup ---
+    print "\nCleaning up..."
+    do -i { ^kill $pubsub_pid }
+    do -i { ^kill $listener_pid }
+    do -i { ^kill $srvcli_pid }
+    do -i { ^kill $zenohd_pid }
+    do -i { ^pkill ttyd }
+    do -i { ^pkill -f chromium }
+    sleep 500ms
+
+    # --- Summary ---
+    print $"\n=== Demo generation complete ==="
+    print $"Passed: ($passed) / ($passed + $failed)"
+    print $"Output: scripts/demos/results/"
+    ls scripts/demos/results/ | select name size | print
+}
diff --git a/scripts/demos/tapes/00-warmup.tape b/scripts/demos/tapes/00-warmup.tape
new file mode 100644
index 00000000..ef9f7c1b
--- /dev/null
+++ b/scripts/demos/tapes/00-warmup.tape
@@ -0,0 +1,12 @@
+# VHS warmup tape — primes chromium/ttyd before real tapes run.
+# Output is discarded; this exists only to absorb the cold-start delay.
+
+Output scripts/demos/results/00-warmup.gif
+Set FontSize 14
+Set Width 400
+Set Height 200
+Set Shell nu
+
+Type "echo ready"
+Enter
+Sleep 1s
diff --git a/scripts/demos/tapes/01-startup.tape b/scripts/demos/tapes/01-startup.tape
new file mode 100644
index 00000000..94d5a393
--- /dev/null
+++ b/scripts/demos/tapes/01-startup.tape
@@ -0,0 +1,25 @@
+# VHS Tape: Startup
+# Shows ros-z-console connecting to a Zenoh router and discovering topics/nodes
+
+Output scripts/demos/results/01-startup.gif
+Set FontSize 14
+Set Width 1200
+Set Height 800
+Set Shell nu
+Set Theme "Catppuccin Mocha"
+
+# Launch the console (router started by generate.nu)
+Type "./target/debug/ros-z-console tcp/127.0.0.1:7447 0"
+Enter
+
+# Wait for initial discovery
+Sleep 3s
+Screenshot scripts/demos/results/01-startup-connected.png
+
+# Wait another cycle to show live updates
+Sleep 3s
+Screenshot scripts/demos/results/01-startup-populated.png
+
+# Quit
+Type "q"
+Sleep 500ms
diff --git a/scripts/demos/tapes/02-navigation.tape b/scripts/demos/tapes/02-navigation.tape
new file mode 100644
index 00000000..b625ec9f
--- /dev/null
+++ b/scripts/demos/tapes/02-navigation.tape
@@ -0,0 +1,56 @@
+# VHS Tape: Panel Navigation
+# Demonstrates Tab switching between panels and list/detail pane navigation
+
+Output scripts/demos/results/02-navigation.gif
+Set FontSize 14
+Set Width 1200
+Set Height 800
+Set Shell nu
+Set Theme "Catppuccin Mocha"
+
+Type "./target/debug/ros-z-console tcp/127.0.0.1:7447 0"
+Enter
+Sleep 3s
+
+# Topics panel (default)
+Screenshot scripts/demos/results/02-nav-topics.png
+
+# Tab → Services
+Tab
+Sleep 500ms
+Screenshot scripts/demos/results/02-nav-services.png
+
+# Tab → Nodes
+Tab
+Sleep 500ms
+Screenshot scripts/demos/results/02-nav-nodes.png
+
+# Tab → Measure
+Tab
+Sleep 500ms
+Screenshot scripts/demos/results/02-nav-measure.png
+
+# Back to Topics (Shift+Tab × 3)
+Shift+Tab
+Shift+Tab
+Shift+Tab
+Sleep 500ms
+
+# Enter detail pane with 'l'
+Type "l"
+Sleep 500ms
+Screenshot scripts/demos/results/02-nav-detail.png
+
+# Navigate sections in detail pane (j/k)
+Type "j"
+Sleep 300ms
+Type "k"
+Sleep 300ms
+
+# Return to list pane with 'h'
+Type "h"
+Sleep 500ms
+Screenshot scripts/demos/results/02-nav-list.png
+
+Type "q"
+Sleep 500ms
diff --git a/scripts/demos/tapes/03-filter.tape b/scripts/demos/tapes/03-filter.tape
new file mode 100644
index 00000000..76fc27a7
--- /dev/null
+++ b/scripts/demos/tapes/03-filter.tape
@@ -0,0 +1,40 @@
+# VHS Tape: Filter Mode
+# Demonstrates type-ahead search with '/' to narrow down topic list
+
+Output scripts/demos/results/03-filter.gif
+Set FontSize 14
+Set Width 1200
+Set Height 800
+Set Shell nu
+Set Theme "Catppuccin Mocha"
+
+Type "./target/debug/ros-z-console tcp/127.0.0.1:7447 0"
+Enter
+Sleep 3s
+
+# Full topic list
+Screenshot scripts/demos/results/03-filter-before.png
+
+# Enter filter mode
+Type "/"
+Sleep 300ms
+Screenshot scripts/demos/results/03-filter-mode.png
+
+# Type partial match
+Type "chatter"
+Sleep 500ms
+Screenshot scripts/demos/results/03-filter-match.png
+
+# Clear and try another filter
+Ctrl+u
+Sleep 300ms
+Type "chat"
+Sleep 500ms
+
+# Exit filter
+Escape
+Sleep 800ms
+Screenshot scripts/demos/results/03-filter-cleared.png
+
+Type "q"
+Sleep 500ms
diff --git a/scripts/demos/tapes/04-help.tape b/scripts/demos/tapes/04-help.tape
new file mode 100644
index 00000000..2b56eb96
--- /dev/null
+++ b/scripts/demos/tapes/04-help.tape
@@ -0,0 +1,26 @@
+# VHS Tape: Help Overlay
+# Shows the '?' help overlay with all keybindings
+
+Output scripts/demos/results/04-help.gif
+Set FontSize 14
+Set Width 1200
+Set Height 800
+Set Shell nu
+Set Theme "Catppuccin Mocha"
+
+Type "./target/debug/ros-z-console tcp/127.0.0.1:7447 0"
+Enter
+Sleep 3s
+
+# Show help overlay
+Type "?"
+Sleep 500ms
+Screenshot scripts/demos/results/04-help-overlay.png
+
+# Dismiss with '?'
+Type "?"
+Sleep 300ms
+Screenshot scripts/demos/results/04-help-dismissed.png
+
+Type "q"
+Sleep 500ms
diff --git a/scripts/demos/tapes/05-topic-detail.tape b/scripts/demos/tapes/05-topic-detail.tape
new file mode 100644
index 00000000..aea28918
--- /dev/null
+++ b/scripts/demos/tapes/05-topic-detail.tape
@@ -0,0 +1,36 @@
+# VHS Tape: Topic Detail
+# Selects /chatter in the Topics panel and drills into the detail pane
+# showing publishers, subscribers, type hash, and QoS profiles
+
+Output scripts/demos/results/05-topic-detail.gif
+Set FontSize 14
+Set Width 1200
+Set Height 800
+Set Shell nu
+Set Theme "Catppuccin Mocha"
+
+Type "./target/debug/ros-z-console tcp/127.0.0.1:7447 0"
+Enter
+Sleep 3s
+
+# Topics panel, /chatter selected
+Screenshot scripts/demos/results/05-topic-list.png
+
+# Open detail pane
+Type "l"
+Sleep 500ms
+Screenshot scripts/demos/results/05-topic-detail-top.png
+
+# Navigate down through sections (publishers → subscribers → QoS)
+Type "j"
+Sleep 400ms
+Type "j"
+Sleep 400ms
+Screenshot scripts/demos/results/05-topic-detail-qos.png
+
+# Return to list
+Type "h"
+Sleep 300ms
+
+Type "q"
+Sleep 500ms
diff --git a/scripts/demos/tapes/06-services.tape b/scripts/demos/tapes/06-services.tape
new file mode 100644
index 00000000..59435053
--- /dev/null
+++ b/scripts/demos/tapes/06-services.tape
@@ -0,0 +1,31 @@
+# VHS Tape: Services Panel
+# Switches to the Services panel and browses the available services
+# including the AddTwoInts service from z_srvcli
+
+Output scripts/demos/results/06-services.gif
+Set FontSize 14
+Set Width 1200
+Set Height 800
+Set Shell nu
+Set Theme "Catppuccin Mocha"
+
+Type "./target/debug/ros-z-console tcp/127.0.0.1:7447 0"
+Enter
+Sleep 3s
+
+# Navigate to Services panel with key '2'
+Type "2"
+Sleep 500ms
+Screenshot scripts/demos/results/06-services-list.png
+
+# Open detail pane for the first service
+Type "l"
+Sleep 500ms
+Screenshot scripts/demos/results/06-services-detail.png
+
+# Return to list
+Type "h"
+Sleep 300ms
+
+Type "q"
+Sleep 500ms
diff --git a/scripts/demos/tapes/07-nodes.tape b/scripts/demos/tapes/07-nodes.tape
new file mode 100644
index 00000000..ef9ad54c
--- /dev/null
+++ b/scripts/demos/tapes/07-nodes.tape
@@ -0,0 +1,44 @@
+# VHS Tape: Nodes Panel
+# Switches to the Nodes panel, shows discovered nodes (talker, listener, srvcli),
+# then drills into a node to see its associated publishers/subscribers/services
+
+Output scripts/demos/results/07-nodes.gif
+Set FontSize 14
+Set Width 1200
+Set Height 800
+Set Shell nu
+Set Theme "Catppuccin Mocha"
+
+Type "./target/debug/ros-z-console tcp/127.0.0.1:7447 0"
+Enter
+Sleep 3s
+
+# Navigate to Nodes panel with key '3'
+Type "3"
+Sleep 500ms
+Screenshot scripts/demos/results/07-nodes-list.png
+
+# Navigate past ros_z_console to a node with topics (/Sub or /Pub)
+Type "j"
+Sleep 200ms
+Type "j"
+Sleep 200ms
+
+# Open detail pane
+Type "l"
+Sleep 500ms
+Screenshot scripts/demos/results/07-nodes-detail.png
+
+# Scroll through the node's topics/services
+Type "j"
+Sleep 400ms
+Type "j"
+Sleep 400ms
+Screenshot scripts/demos/results/07-nodes-detail-scrolled.png
+
+# Return to list
+Type "h"
+Sleep 300ms
+
+Type "q"
+Sleep 500ms
diff --git a/scripts/demos/tapes/08-measurement.tape b/scripts/demos/tapes/08-measurement.tape
new file mode 100644
index 00000000..13d5a5fc
--- /dev/null
+++ b/scripts/demos/tapes/08-measurement.tape
@@ -0,0 +1,35 @@
+# VHS Tape: Rate Measurement
+# Shows the rate measurement workflow:
+#   r  → quick rate check on selected topic (cached result in topic list)
+#   m  → open Measure panel for continuous measurement with time-series chart
+
+Output scripts/demos/results/08-measurement.gif
+Set FontSize 14
+Set Width 1200
+Set Height 800
+Set Shell nu
+Set Theme "Catppuccin Mocha"
+
+Type "./target/debug/ros-z-console tcp/127.0.0.1:7447 0"
+Enter
+Sleep 3s
+
+# Topics panel with /chatter selected
+Screenshot scripts/demos/results/08-before.png
+
+# Quick rate check with 'r'
+Type "r"
+Sleep 4s
+Screenshot scripts/demos/results/08-rate-result.png
+
+# Open Measure panel with 'm' for continuous measurement
+Type "m"
+Sleep 500ms
+Screenshot scripts/demos/results/08-measure-panel.png
+
+# Let the time-series chart accumulate data
+Sleep 5s
+Screenshot scripts/demos/results/08-measure-chart.png
+
+Type "q"
+Sleep 500ms
diff --git a/tests/run-vhs-tests.nu b/tests/run-vhs-tests.nu
new file mode 100755
index 00000000..e7b379e0
--- /dev/null
+++ b/tests/run-vhs-tests.nu
@@ -0,0 +1,349 @@
+#!/usr/bin/env nu
+
+# VHS-based TUI correctness tests for ros-z-console
+#
+# Usage:
+#   nu tests/run-vhs-tests.nu
+#
+# Prerequisites (run once):
+#   nix develop   # enter dev shell to get vhs, zenohd, ttyd in PATH
+#
+# Background processes started automatically:
+#   zenohd          - Zenoh router
+#   z_pubsub talker - Publishes std_msgs/String on /chatter at 1 Hz
+#   z_pubsub listener - Subscribes to /chatter (makes the topic bidirectional)
+#   z_srvcli server - Exposes example_interfaces/AddTwoInts service
+#
+# Assertions:
+#   - Screenshot existence  = app ran that code path without crashing
+#   - Size differences      = state actually changed (filtered vs unfiltered, etc.)
+#   - All screenshots exist = test passed
+
+
+# ---------------------------------------------------------------------------
+# Helpers
+# ---------------------------------------------------------------------------
+
+def run_tape [tape_path: string] {
+    let before = (date now)
+    let result = (try { ^vhs $tape_path | complete } catch { {exit_code: 1, stderr: "vhs threw"} })
+    let after = (date now)
+    {
+        tape:        ($tape_path | path basename)
+        success:     ($result.exit_code == 0)
+        duration_ms: (($after - $before) / 1ms)
+        exit_code:   $result.exit_code
+        stderr:      ($result.stderr? | default "")
+    }
+}
+
+def shot [path: string] {
+    let exists = ($path | path exists)
+    let size   = (if $exists { ls $path | get size | first | into int } else { 0 })
+    { path: $path, exists: $exists, size: $size }
+}
+
+def sizes_differ [a: string, b: string] {
+    let sa = (shot $a)
+    let sb = (shot $b)
+    ($sa.exists and $sb.exists and $sa.size != $sb.size)
+}
+
+def make_result [name: string, checks: record, error: string] {
+    let all_pass = ($checks | values | all {|v| $v })
+    {
+        name:   $name
+        status: (if $all_pass { "passed" } else { "failed" })
+        checks: $checks
+        error:  (if $all_pass { null } else { $error })
+    }
+}
+
+# ---------------------------------------------------------------------------
+# Per-tape analysis functions
+# ---------------------------------------------------------------------------
+
+def analyze_topics_panel [] {
+    let initial  = (shot "tests/results/01-topics-initial.png")
+    let nav_down = (shot "tests/results/01-topics-nav-down.png")
+    let nav_up   = (shot "tests/results/01-topics-nav-up.png")
+
+    let checks = {
+        initial_captured:  $initial.exists
+        nav_down_captured: $nav_down.exists
+        nav_up_captured:   $nav_up.exists
+        # /chatter topic discovered: initial screenshot should be a real TUI frame (>50 KB)
+        initial_has_content: ($initial.size > 50000)
+        # initial shows TUI (not direnv loading): should be at least 100 KB with color theme
+        initial_is_tui: ($initial.size > 100000)
+    }
+    make_result "topics_panel" $checks "Topics panel did not load or /chatter not discovered"
+}
+
+def analyze_panel_navigation [] {
+    let topics   = (shot "tests/results/02-topics-panel.png")
+    let services = (shot "tests/results/02-services-panel.png")
+    let nodes    = (shot "tests/results/02-nodes-panel.png")
+    let measure  = (shot "tests/results/02-measure-panel.png")
+    let tab_back = (shot "tests/results/02-tab-back-to-topics.png")
+
+    let checks = {
+        topics_captured:   $topics.exists
+        services_captured: $services.exists
+        nodes_captured:    $nodes.exists
+        measure_captured:  $measure.exists
+        tab_back_captured: $tab_back.exists
+        # Each panel renders differently (panel header + content changes)
+        topics_vs_services: (sizes_differ "tests/results/02-topics-panel.png" "tests/results/02-services-panel.png")
+        services_vs_nodes:  (sizes_differ "tests/results/02-services-panel.png" "tests/results/02-nodes-panel.png")
+        nodes_vs_measure:   (sizes_differ "tests/results/02-nodes-panel.png" "tests/results/02-measure-panel.png")
+    }
+    make_result "panel_navigation" $checks "Panel switching (1/2/3/4/Tab) did not change display"
+}
+
+def analyze_topic_detail [] {
+    let list_pane    = (shot "tests/results/03-list-pane.png")
+    let detail_pane  = (shot "tests/results/03-detail-pane.png")
+    let back_to_list = (shot "tests/results/03-back-to-list.png")
+    let via_enter    = (shot "tests/results/03-detail-via-enter.png")
+
+    let checks = {
+        list_captured:      $list_pane.exists
+        detail_captured:    $detail_pane.exists
+        back_captured:      $back_to_list.exists
+        enter_captured:     $via_enter.exists
+        # l moves focus to detail pane: content should differ from list pane
+        l_key_changes_pane: (sizes_differ "tests/results/03-list-pane.png" "tests/results/03-detail-pane.png")
+        # h returns: back-to-list should look like list-pane
+        h_key_returns:      (sizes_differ "tests/results/03-detail-pane.png" "tests/results/03-back-to-list.png")
+        # Enter reaches detail same as l
+        enter_shows_detail: (sizes_differ "tests/results/03-list-pane.png" "tests/results/03-detail-via-enter.png")
+    }
+    make_result "topic_detail" $checks "l/h keys did not switch between list and detail panes"
+}
+
+def analyze_filter [] {
+    let before   = (shot "tests/results/04-filter-before.png")
+    let active   = (shot "tests/results/04-filter-active.png")
+    let matched  = (shot "tests/results/04-filter-match.png")
+    let cleared  = (shot "tests/results/04-filter-cleared.png")
+    let exited   = (shot "tests/results/04-filter-exited.png")
+
+    let checks = {
+        before_captured:  $before.exists
+        active_captured:  $active.exists
+        matched_captured: $matched.exists
+        cleared_captured: $cleared.exists
+        exited_captured:  $exited.exists
+        # / activates filter mode (status bar changes)
+        slash_changes_display: (sizes_differ "tests/results/04-filter-before.png" "tests/results/04-filter-active.png")
+        # Typing "chatter" narrows the list (fewer rows = different size)
+        typing_filters_list: (sizes_differ "tests/results/04-filter-before.png" "tests/results/04-filter-match.png")
+        # Ctrl+U clears text (list expands again)
+        ctrl_u_clears: (sizes_differ "tests/results/04-filter-match.png" "tests/results/04-filter-cleared.png")
+    }
+    make_result "filter_mode" $checks "Filter mode (/) did not narrow the topic list"
+}
+
+def analyze_help_overlay [] {
+    let off       = (shot "tests/results/05-help-off.png")
+    let on        = (shot "tests/results/05-help-on.png")
+    let dismissed = (shot "tests/results/05-help-dismissed.png")
+    let escaped   = (shot "tests/results/05-help-escape.png")
+
+    let checks = {
+        off_captured:       $off.exists
+        on_captured:        $on.exists
+        dismissed_captured: $dismissed.exists
+        escaped_captured:   $escaped.exists
+        # ? shows overlay (different render = different size)
+        question_shows_overlay: (sizes_differ "tests/results/05-help-off.png" "tests/results/05-help-on.png")
+        # second ? dismisses overlay
+        second_question_dismisses: (sizes_differ "tests/results/05-help-on.png" "tests/results/05-help-dismissed.png")
+        # Escape also dismisses
+        escape_dismisses: (sizes_differ "tests/results/05-help-on.png" "tests/results/05-help-escape.png")
+    }
+    make_result "help_overlay" $checks "? key did not show/dismiss help overlay"
+}
+
+def analyze_rate_check [] {
+    let before    = (shot "tests/results/06-rate-before.png")
+    let measuring = (shot "tests/results/06-rate-measuring.png")
+    let done      = (shot "tests/results/06-rate-done.png")
+
+    let checks = {
+        before_captured:    $before.exists
+        measuring_captured: $measuring.exists
+        done_captured:      $done.exists
+        # After measurement completes, rate value appears in topic list (list content changes)
+        # Note: measuring vs before sizes are similar because status text change has minimal PNG impact
+        rate_shown_after: (sizes_differ "tests/results/06-rate-before.png" "tests/results/06-rate-done.png")
+    }
+    make_result "rate_check" $checks "r key rate measurement did not update /chatter rate display"
+}
+
+# ---------------------------------------------------------------------------
+# Main
+# ---------------------------------------------------------------------------
+
+def main [] {
+    # Resolve worktree root from this script's location (tests/run-vhs-tests.nu → ../)
+    let worktree = ($env.CURRENT_FILE | path dirname | path dirname)
+    cd $worktree
+
+    # --- Preflight ---
+    for tool in ["vhs", "zenohd", "ttyd"] {
+        if (which $tool | is-empty) {
+            error make { msg: $"Required tool not found: ($tool). Run `nix develop` first." }
+        }
+    }
+
+    # Kill orphaned processes from previous runs
+    do -i { ^pkill zenohd }
+    do -i { ^pkill -9 ttyd }
+    do -i { ^pkill -9 -f chromium }
+    sleep 2sec
+
+    # --- Build ---
+    print "Building ros-z-console..."
+    cargo build -p ros-z-console
+
+    print "Building examples (z_pubsub, z_srvcli)..."
+    cargo build --example z_pubsub
+    cargo build --example z_srvcli
+
+    mkdir tests/results
+    mkdir _tmp
+
+    # --- Start background processes ---
+    print "Starting zenohd..."
+    let zenohd_pid = (
+        ^bash -c $"zenohd > _tmp/zenohd-test.log 2>&1 & echo $!"
+        | str trim | into int
+    )
+    sleep 1sec
+
+    print "Starting z_pubsub talker (/chatter publisher)..."
+    let talker_pid = (
+        ^bash -c $"./target/debug/examples/z_pubsub --role talker > _tmp/talker-test.log 2>&1 & echo $!"
+        | str trim | into int
+    )
+
+    print "Starting z_pubsub listener (/chatter subscriber)..."
+    let listener_pid = (
+        ^bash -c $"./target/debug/examples/z_pubsub --role listener > _tmp/listener-test.log 2>&1 & echo $!"
+        | str trim | into int
+    )
+
+    print "Starting z_srvcli server (AddTwoInts service)..."
+    let srvcli_pid = (
+        ^bash -c $"./target/debug/examples/z_srvcli > _tmp/srvcli-test.log 2>&1 & echo $!"
+        | str trim | into int
+    )
+    sleep 3sec
+
+    print $"PIDs: zenohd=($zenohd_pid) talker=($talker_pid) listener=($listener_pid) srvcli=($srvcli_pid)"
+
+    # --- Warmup ---
+    let all_tapes = (ls tests/tapes/*.tape | get name | sort)
+
+    print "\nWarming up VHS (chromium cold start)..."
+    mut warmed = false
+    for attempt in 1..10 {
+        let ok = (try { ^vhs ($all_tapes | first); true } catch { false })
+        if $ok {
+            print $"  Ready after ($attempt) attempts"
+            $warmed = true
+            break
+        }
+        print $"  Attempt ($attempt) failed, retrying in 3s..."
+        sleep 3sec
+    }
+    if not $warmed {
+        print "  Warning: warmup never succeeded, proceeding anyway"
+    }
+
+    # --- Run tapes ---
+    let tapes = ($all_tapes | skip 1)
+
+    let tape_results = ($tapes | each {|tape|
+        print $"\nRunning tape: ($tape)"
+        mut success = false
+        for attempt in 1..10 {
+            let ok = (try { ^vhs $tape; true } catch { false })
+            if $ok {
+                $success = true
+                break
+            }
+            print $"  Attempt ($attempt) failed, retrying in 3s..."
+            sleep 3sec
+        }
+        if $success {
+            print $"  ✅ ($tape | path basename)"
+            do -i { ^pkill -9 ttyd }
+            do -i { ^pkill -9 -f chromium }
+            sleep 5sec
+        } else {
+            print $"  ❌ ($tape | path basename)"
+        }
+        { tape: ($tape | path basename), success: $success }
+    })
+
+    # --- Analyze ---
+    print "\nAnalyzing screenshots..."
+    let tests = [
+        (analyze_topics_panel)
+        (analyze_panel_navigation)
+        (analyze_topic_detail)
+        (analyze_filter)
+        (analyze_help_overlay)
+        (analyze_rate_check)
+    ]
+
+    for t in $tests {
+        let icon = (if $t.status == "passed" { "✅" } else { "❌" })
+        print $"  ($icon) ($t.name)"
+        if $t.status == "failed" {
+            print $"     error: ($t.error)"
+            let failing = ($t.checks | transpose key val | where { not $in.val })
+            for f in $failing {
+                print $"     - ($f.key): false"
+            }
+        }
+    }
+
+    # --- Cleanup ---
+    print "\nCleaning up..."
+    do -i { ^kill $talker_pid }
+    do -i { ^kill $listener_pid }
+    do -i { ^kill $srvcli_pid }
+    do -i { ^kill $zenohd_pid }
+    do -i { ^pkill ttyd }
+    do -i { ^pkill -f chromium }
+    sleep 500ms
+
+    # --- Report ---
+    let passed = ($tests | where status == "passed" | length)
+    let failed = ($tests | where status == "failed" | length)
+
+    let report = {
+        timestamp:    (date now | format date '%Y-%m-%dT%H:%M:%S')
+        total:        ($tests | length)
+        passed:       $passed
+        failed:       $failed
+        tape_results: $tape_results
+        tests:        $tests
+    }
+
+    let ts = (date now | format date '%Y%m%d-%H%M%S')
+    $report | to json | save $"tests/results/test-run-($ts).json"
+    $report | to json | save --force "tests/results/latest.json"
+
+    print $"\n=== TUI Test Results: ($passed)/($passed + $failed) passed ==="
+    print $"Report: tests/results/latest.json"
+    ls tests/results/*.png | select name size | print
+
+    if $failed > 0 {
+        exit 1
+    }
+}
diff --git a/tests/tapes/00-warmup.tape b/tests/tapes/00-warmup.tape
new file mode 100644
index 00000000..43c8f1b4
--- /dev/null
+++ b/tests/tapes/00-warmup.tape
@@ -0,0 +1,13 @@
+# VHS Tape: Warmup
+# Absorbs chromium/ttyd cold-start latency before running real tests.
+
+Output tests/results/00-warmup.gif
+Set FontSize 14
+Set Width 400
+Set Height 200
+Set Shell nu
+Env DIRENV_DISABLE "1"
+
+Type "echo ready"
+Enter
+Sleep 1s
diff --git a/tests/tapes/01-topics-panel.tape b/tests/tapes/01-topics-panel.tape
new file mode 100644
index 00000000..6c7b9e09
--- /dev/null
+++ b/tests/tapes/01-topics-panel.tape
@@ -0,0 +1,35 @@
+# VHS Tape: Topics Panel
+#
+# Verifies:
+# - Console starts and connects to zenohd
+# - /chatter topic is discovered and visible in Topics panel
+# - j/k keys navigate the topic list
+# - q quits cleanly
+
+Output tests/results/01-topics-panel.gif
+Set FontSize 14
+Set Width 1200
+Set Height 800
+Set Shell nu
+Set Theme "Catppuccin Mocha"
+Env DIRENV_DISABLE "1"
+
+Type "./target/debug/ros-z-console tcp/127.0.0.1:7447 0"
+Enter
+Sleep 4s
+
+# Capture initial state: Topics panel visible, /chatter should appear
+Screenshot tests/results/01-topics-initial.png
+
+# Navigate down with j
+Type "j"
+Sleep 200ms
+Screenshot tests/results/01-topics-nav-down.png
+
+# Navigate back up with k
+Type "k"
+Sleep 200ms
+Screenshot tests/results/01-topics-nav-up.png
+
+Type "q"
+Sleep 500ms
diff --git a/tests/tapes/02-panel-navigation.tape b/tests/tapes/02-panel-navigation.tape
new file mode 100644
index 00000000..4fe5b00a
--- /dev/null
+++ b/tests/tapes/02-panel-navigation.tape
@@ -0,0 +1,48 @@
+# VHS Tape: Panel Navigation
+#
+# Verifies:
+# - Number keys 1/2/3/4 switch between Topics/Services/Nodes/Measure panels
+# - Tab cycles forward through panels
+# - Each panel shows a distinct header
+
+Output tests/results/02-panel-navigation.gif
+Set FontSize 14
+Set Width 1200
+Set Height 800
+Set Shell nu
+Set Theme "Catppuccin Mocha"
+Env DIRENV_DISABLE "1"
+
+Type "./target/debug/ros-z-console tcp/127.0.0.1:7447 0"
+Enter
+Sleep 4s
+
+# Default: Topics panel (panel 1)
+Screenshot tests/results/02-topics-panel.png
+
+# Switch to Services panel via number key
+Type "2"
+Sleep 300ms
+Screenshot tests/results/02-services-panel.png
+
+# Switch to Nodes panel
+Type "3"
+Sleep 300ms
+Screenshot tests/results/02-nodes-panel.png
+
+# Switch to Measure panel
+Type "4"
+Sleep 300ms
+Screenshot tests/results/02-measure-panel.png
+
+# Tab cycles forward: Measure -> Topics
+Tab
+Sleep 300ms
+Screenshot tests/results/02-tab-back-to-topics.png
+
+# Return to Topics via key 1
+Type "1"
+Sleep 200ms
+
+Type "q"
+Sleep 500ms
diff --git a/tests/tapes/03-topic-detail.tape b/tests/tapes/03-topic-detail.tape
new file mode 100644
index 00000000..78ddf26a
--- /dev/null
+++ b/tests/tapes/03-topic-detail.tape
@@ -0,0 +1,49 @@
+# VHS Tape: Topic Detail Pane
+#
+# Verifies:
+# - l key moves focus to detail pane showing topic info
+# - Detail pane shows type name, publisher/subscriber counts, QoS
+# - h key returns focus to list pane
+# - Enter also enters detail pane
+
+Output tests/results/03-topic-detail.gif
+Set FontSize 14
+Set Width 1200
+Set Height 800
+Set Shell nu
+Set Theme "Catppuccin Mocha"
+Env DIRENV_DISABLE "1"
+
+Type "./target/debug/ros-z-console tcp/127.0.0.1:7447 0"
+Enter
+Sleep 4s
+
+# Capture list pane state (left pane focused)
+Screenshot tests/results/03-list-pane.png
+
+# Move to detail pane with l
+Type "l"
+Sleep 300ms
+Screenshot tests/results/03-detail-pane.png
+
+# Scroll detail pane with j
+Type "j"
+Sleep 200ms
+Screenshot tests/results/03-detail-scrolled.png
+
+# Return to list pane with h
+Type "h"
+Sleep 300ms
+Screenshot tests/results/03-back-to-list.png
+
+# Enter also enters detail pane
+Enter
+Sleep 300ms
+Screenshot tests/results/03-detail-via-enter.png
+
+# Escape returns to list
+Escape
+Sleep 300ms
+
+Type "q"
+Sleep 500ms
diff --git a/tests/tapes/04-filter.tape b/tests/tapes/04-filter.tape
new file mode 100644
index 00000000..5fdd5eb8
--- /dev/null
+++ b/tests/tapes/04-filter.tape
@@ -0,0 +1,45 @@
+# VHS Tape: Filter Mode
+#
+# Verifies:
+# - / activates filter mode (status bar changes)
+# - Typing narrows the list to matching topics
+# - Ctrl+U clears the filter text
+# - Escape exits filter mode, restoring full list
+
+Output tests/results/04-filter.gif
+Set FontSize 14
+Set Width 1200
+Set Height 800
+Set Shell nu
+Set Theme "Catppuccin Mocha"
+Env DIRENV_DISABLE "1"
+
+Type "./target/debug/ros-z-console tcp/127.0.0.1:7447 0"
+Enter
+Sleep 4s
+
+# Full topic list visible
+Screenshot tests/results/04-filter-before.png
+
+# Enter filter mode with /
+Type "/"
+Sleep 200ms
+Screenshot tests/results/04-filter-active.png
+
+# Type search string - should narrow list to /chatter
+Type "chatter"
+Sleep 300ms
+Screenshot tests/results/04-filter-match.png
+
+# Clear with Ctrl+U
+Ctrl+U
+Sleep 200ms
+Screenshot tests/results/04-filter-cleared.png
+
+# Exit filter mode with Escape
+Escape
+Sleep 600ms
+Screenshot tests/results/04-filter-exited.png
+
+Type "q"
+Sleep 500ms
diff --git a/tests/tapes/05-help-overlay.tape b/tests/tapes/05-help-overlay.tape
new file mode 100644
index 00000000..00f526fa
--- /dev/null
+++ b/tests/tapes/05-help-overlay.tape
@@ -0,0 +1,41 @@
+# VHS Tape: Help Overlay
+#
+# Verifies:
+# - ? shows the help overlay with keybinding table
+# - ? again dismisses the overlay
+# - q while overlay is shown also dismisses it (Esc/q/? all close help)
+
+Output tests/results/05-help-overlay.gif
+Set FontSize 14
+Set Width 1200
+Set Height 800
+Set Shell nu
+Set Theme "Catppuccin Mocha"
+Env DIRENV_DISABLE "1"
+
+Type "./target/debug/ros-z-console tcp/127.0.0.1:7447 0"
+Enter
+Sleep 3s
+
+# Normal TUI without overlay
+Screenshot tests/results/05-help-off.png
+
+# Show help overlay with ?
+Type "?"
+Sleep 300ms
+Screenshot tests/results/05-help-on.png
+
+# Dismiss with ? again
+Type "?"
+Sleep 300ms
+Screenshot tests/results/05-help-dismissed.png
+
+# Show again and dismiss with Escape
+Type "?"
+Sleep 300ms
+Escape
+Sleep 300ms
+Screenshot tests/results/05-help-escape.png
+
+Type "q"
+Sleep 500ms
diff --git a/tests/tapes/06-rate-check.tape b/tests/tapes/06-rate-check.tape
new file mode 100644
index 00000000..83130e4f
--- /dev/null
+++ b/tests/tapes/06-rate-check.tape
@@ -0,0 +1,33 @@
+# VHS Tape: Rate Check
+#
+# Verifies:
+# - r key triggers a quick rate measurement on the selected topic
+# - Status bar shows measurement in progress
+# - After measurement completes, rate (msg/s) is shown in the topic list
+
+Output tests/results/06-rate-check.gif
+Set FontSize 14
+Set Width 1200
+Set Height 800
+Set Shell nu
+Set Theme "Catppuccin Mocha"
+Env DIRENV_DISABLE "1"
+
+Type "./target/debug/ros-z-console tcp/127.0.0.1:7447 0"
+Enter
+Sleep 4s
+
+# /chatter should be selected (first topic)
+Screenshot tests/results/06-rate-before.png
+
+# Trigger rate measurement with r
+Type "r"
+Sleep 500ms
+Screenshot tests/results/06-rate-measuring.png
+
+# Wait for measurement to complete (default quick measure: ~3s)
+Sleep 4s
+Screenshot tests/results/06-rate-done.png
+
+Type "q"
+Sleep 500ms