BGRA to BGR only supports one camera, require both left and right to be BGR/RGB

[MrOCW]

Preliminary Checks

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• This issue is not a question, bug report, or anything other than a feature request directly related to this project.

Proposal

the conversion node only converts the left camera, both left and right cameras should be converted to BGR

Use-Case

bgra8 incompatible with isaac ros

Anything else?

Currently not using composition to achieve this but it'll be nice to have 2 image subscribers in the component

[Myzhar]

@MrOCW this is indeed an example, you can modify and adapt it to subscribe to both left and right topics and convert them all.

We can consider improving the example, but it's not a high-priority task.

[MrOCW]

@Myzhar I have tried creating separate subs and pubs for left and right but I am stuck on how to remap the camera_info topic required by image_transport's create_camera_subscriber as both left and right topics end up having the same /zed2i/camera_info topic string. Do you have any advice for this?