Use image_transport::subscribe_camera

subscribe_camera.cpp

#include <ros/ros.h>

#include <image_transport/image_transport.h>

int main(int argc, char *argv[]) {
    ros::init(argc, argv, "auto_brightness", ros::init_options::AnonymousName);

    ros::NodeHandle nh, pnh("~");
    image_transport::ImageTransport it{nh};  // Is this necessary?

    auto input_ns = pnh.param("input", std::string{"camera"});
    auto output_ns = pnh.param("output", std::string{"fake_stereo"});


    auto callback = [](
            const sensor_msgs::ImageConstPtr &img, const sensor_msgs::CameraInfoConstPtr &cinfo) {
        ROS_WARN("recv data");
    };

    ROS_ERROR("Node runnin? %s %s", input_ns.c_str(), output_ns.c_str());
    auto camera_sub = it.subscribeCamera(input_ns + "/image_raw", 10,
                                         image_transport::CameraSubscriber::Callback{callback});

    ros::spin();
}