I am using raspicam_node for my robot drivenb by a raspberry Pi and an Rasberry Pi Camera V2. I looked at the revision history and its not been updated in ages. I have a few questions:

1) Is it still the "right" software to use or is there something newer and different?

2) I believe that for many of my applications I don't need 1280x960 color images. Probably 640x480 would be fine and black and white will often be fine. I believe that everything will be more efficient with smaller images. From load on the raspberry pi to network communication to other nodes. Can you confirm this?

3) There are several places where the image resolution is mentioned. In particular the launch file for raspicam_node. Will changing that actually change th resolution the camera is working at and reduce the data sizes or do I do it somewhere else?

Thank you!