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Now I already got it working by using gscam package, with this launch file from the v4l example in the package, removing the framerate option:

    <!-- This launchfile should bring up a node that broadcasts a ros image
    transport on /webcam/image_raw -->
    <arg name="DEVICE" default="/dev/video0"/>
    <!-- The GStreamer framerate needs to be an integral fraction -->
    <arg name="FPS" default="30/1"/>
    <arg name="PUBLISH_FRAME" default="false"/>
    <node ns="v4l" name="gscam_driver_v4l" pkg="gscam" type="gscam" output="screen">
        <param name="camera_name" value="default"/>
        <param name="camera_info_url" value="package://gscam/examples/uncalibrated_parameters.ini"/>
        <param name="gscam_config" value="v4l2src device=$(arg DEVICE) ! video/x-raw-rgb! ffmpegcolorspace"/>
        <param name="frame_id" value="/v4l_frame"/>
        <param name="sync_sink" value="true"/>
    <node if="$(arg PUBLISH_FRAME)" name="v4l_transform" pkg="tf" type="static_transform_publisher" args="1 2 3 0 -3.141 0 /world /v4l_frame 10"/>

With this, topic /v4l/camera/image_raw is available for further use.

Thanks for suggestions @Eric Perko.