fix: Use new image_transport API when applicable #261

Job	Run time
industrial_ci (jazzy, main)	3m 28s
industrial_ci (kilted, main)	3m 40s
industrial_ci (jazzy, testing)	3m 30s
industrial_ci (humble, main)	3m 30s
industrial_ci (rolling, main)	48s
industrial_ci (humble, testing)	3m 34s
industrial_ci (rolling, testing)	4m 15s
industrial_ci (kilted, testing)	3m 27s
	26m 12s

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