Use image_transport publishers for lifecycle nodes

[stefanscherzinger]

Problem description
The image_transport publishers provide efficient ways of publishing image data. However, they don't seem to work out-of-the-box for Humble, Iron, etc. at the moment.

This seems to require a fix as discussed here.

@MGBla I'll keep this here for reference until we can use that mechanism.

[chriseichmann]

For reference, there seems to be a fix that got merged into rolling two weeks ago. I do not expect this to be back-ported, therefore Lyrical (May 2026) would be the first stable ROS version that could be targeted for this enhancement.