Support for Y16 Pixel Format

[rancyberbee]

Hi
My Arducam AR0234 support the following formats:

ubuntu@ubuntu:~/ros2_ws$ v4l2-ctl --list-formats-ext
ioctl: VIDIOC_ENUM_FMT
Type: Video Capture

    [0]: 'Y16 ' (16-bit Greyscale)
            Size: Discrete 1920x1200
            Size: Discrete 1920x1080
            Size: Discrete 1280x720
    [1]: 'BA10' (10-bit Bayer GRGR/BGBG)
            Size: Discrete 1920x1200
            Size: Discrete 1920x1080
            Size: Discrete 1280x720

From my knowledge it is pretty similar to mono16 but with some additional metadata or encoding. Is there a support for "Y16" pixel format for your driver for ROS2?

Thanks,
Ran

[flynneva]

@rancyberbee not as of today but I'd be happy to review a PR if you want to take a crack at adding support for that format!

You can take what is in the 'include/usb_cam/formats/mono16.hpp' file as inspiration.

If you open a PR I could comment and guide you through adding it yourself