Fix ros jammy and lazy publishing #8
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ArendJan
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Building for ros-jammy wasn't working, this fixes it.
Includes image_transport changes from @rafal-gorecki #2
And adds lazy publishing: when a subscriber connects, then it starts reading from the camera. On my Orange Pi 3b this saves 80%+ load ( 1 out of 4 cores) when not subscribed to any topic.