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Since you are not setting the camera parameters manually in the launch file, they are getting set to the default in the driver. Note that the driver's defaults are NOT initialized to the current settings on the camera (they are specified either in the driver code or in the UVCCam.cfg file), so whatever parameters you set in guvcview are not what is being set by uvc_cam. This could result in very dark images, as that is the desired behavior for the use case the driver forked for.

See my answer to Logitech webcams very "dark" when using uvc_cam for details on how to "undarken" your image when using my uvc_cam driver.

Your best bet is to find the set of parameters you like using the guvcview program, record them, set them with dynamic_reconfigure's reconfigure_gui while the uvc_cam driver is running (or in the launch file before starting up) and then any values you changed from default you should set in your launch file. Note that setting any unsupported modes in the reconfigure_gui may crash the driver or cause the camera to lock up and need power-cycled (Usually this is only if you try to change the resolution, as the reconfigure_gui doesn't wait to get both a width and height pair before reconfiguring the driver. I suggest setting the width and height in the launch file beforehand.)

If your problem is not a very dark image, then I suggest you include both an image from while guvcview is running and an image of the same scene with the uvc_cam driver so that we can understand the type of degradation you are seeing.