When no format or resolution is provided, we would previously select the first "common" format and the highest resolution. This may diverge from the default configuration of the stream and lead to non-optimal settings, such as selecting a monochrome configuration when colour is available (https://github.com/christianrauch/camera_ros/issues/45).
Fix this using the proposed default stream configuration when supported by the ROS image message.
When no format or resolution is provided, we would previously select the first "common" format and the highest resolution. This may diverge from the default configuration of the stream and lead to non-optimal settings, such as selecting a monochrome configuration when colour is available (https://github.com/christianrauch/camera_ros/issues/45).
Fix this using the proposed default stream configuration when supported by the ROS image message.
Fixes https://github.com/christianrauch/camera_ros/issues/45.