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If you want to process this data, yes you need to write a subscriber. And yes, if you know the topic name and the message type, that's enough to write a subscriber (for fine tuning you might need information like publishing frequency etc).
You can follow the ROS tutorial to write the subscriber : http://wiki.ros.org/ROS/Tutorials/WritingPublisherSubscriber(c%2B%2B)
You can see what each field in the message represents here : http://docs.ros.org/api/sensor_msgs/html/msg/Image.html
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