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Disclaimer: I haven't tried this, but it should work.

What you could try is transmitting the stream via Gstreamer, running a Gstreamer pipeline on the Pi and another one on your target computer as input of the gscam ROS camera driver.

Here is a tutorial for using Gstreamer on the Pi. What would need to be changed is piping the output to RGB output on the receiver side (instead of the video sink visualizer). This then can be used by the gscam driver which publishes standard ROS images.