/**:
    ros__parameters:
      video_device: "/dev/video0"
      framerate: 30.0
      io_method: "mmap"
      frame_id: "camera1"
      # pixel_format: "yuyv2rgb"  
      pixel_format: "uyvy2rgb"  
      # pixel_format: "uyvy"  
      image_width: 1920
      image_height: 1080
      camera_name: "camera1"
      # reusing same camera intrinsics only for demo, should really be unique for camera2"
      camera_info_url: "package://usb_cam/config/camera_info.yaml"
      brightness: -1
      contrast: -1
      saturation: -1
      sharpness: -1
      gain: -1
      auto_white_balance: true
      white_balance: 4000
      autoexposure: true
      exposure: 100
      autofocus: false
      focus: -1

void convertUYVYtoRGB(sensor_msgs::msg::Image::SharedPtr m_image_msg) {

  int width = m_image_msg->width;
  int height = m_image_msg->height;
  cv::Mat uyvy_img(height, width, CV_8UC2, const_cast<uint8_t *>(m_image_msg->data.data()));
  cv::Mat rgb_img;
  cv::cvtColor(uyvy_img, rgb_img, cv::COLOR_YUV2RGB_UYVY);

  m_image_msg->encoding = "rgb8";
  m_image_msg->step = rgb_img.step;
  m_image_msg->data.assign(rgb_img.data, rgb_img.data + rgb_img.total() * rgb_img.elemSize());
}