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So you want a Print-Screen alike command in your Xfce desktop. This is already done by xfce-extra/xfce4-screenshooter. Just install it then create a keyboard shortcut that is pointing to your /usr/bin/xfce4-screenshooter and you got yourself a PrintScreen keyboard shortcut.
Now, everytime you want to create a screen snapshot just press your PrintScreen key (or keys combination) from your keyboard and the xfce4-screenshooter will be launched automatically: