Topic name may be out of spec

[rgov]

The examples publish to camera/image. However, the documentation of sensor_msgs/CameraInfo states:

# This message defines meta information for a camera. It should be in a
# camera namespace on topic "camera_info" and accompanied by up to five
# image topics named:
#
#   image_raw - raw data from the camera driver, possibly Bayer encoded
#   image            - monochrome, distorted
#   image_color      - color, distorted
#   image_rect       - monochrome, rectified
#   image_rect_color - color, rectified

Therefore image is reserved for monochrome images and in the general case I think the tutorials should publish on image_raw. (I don't think this is a great spec.)