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Okay. Two answers:

1. The warning you show is perfectly normal if you actually have not yet calibrated your camera at the resolution you are currently running at (or you didn't save the calibration to a file).
2. Due to the particular use case we originally forked the driver for, the defaults in the test launch file set the camera to be very "dark". What you will want to do is to create your own camera launch file that sets your parameters appropriately. The ones you will have to change to "undarken" the camera would either be absolute_exposure if you want to manually set the exposure to a fixed value, or change the exposure parameter to an automatic exposure setting. You'll have to play around with dynamic reconfigure to find the appropriate value (but for my Logitech Webcam Pro 9000, the only auto exposure it supports is "3"). I can't say exactly for certain what your webcam supports, but you can also play around with it in guvcview, which is a Linux tool that uses the same underlying driver interfacing (and so shares parameter constants).

Eventually I'd like to update the driver (maybe once an "official" USB camera driver is underway or as part of that work) to work more like camera1394, where it only changes out of the auto mode if you explicitly set the driver to use a manual value. I emphasize the eventually in there since I really need to write my M.S. thesis instead of work on a camera driver right now ;)

Hope that helps.