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Found a solution for my problem.
Instead of using the camera_aravis package for the manta G-235c camera, the prosilica_camera will work. The camera_aravis package publish the pixel format of the camera, instead of a base pixel format (like rgb8). So if the pixel format is rgb8packed (or BayerRG8 for the manta G-235c), the camera_aravis will send that type of pixel format. The prosilica_camera package will translate the pixel format of the camera to rgb8 pixel format.
The prosilica_camera is not directly usable with software that is written with a universal camera package in mind. Before using it you need to solve this problem: https://answers.ros.org/question/280342/issues-with-prosilica-camera-connected-through-router/. After that you need to remove _drivers text in the generic.launch file and add camera/ to the raw_image publisher in the prosilica_nodelet.cpp.
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