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What I've done is slapped together a pub/sub framework for Images that optionally publishes out to ros2 or only passes shared_ptrs directly to subscribers in the same process using node composition. Every publisher can be switched over to doing ros2 publishes with gui checkboxes, later config scripts could set whether to publish only internally or not.
It doesn't fully work with existing image processing nodes (though I don't happen to need any, not even image_rect)- they can be brought in but then the full transport costs are incurred. It has built in image viewer and I can easily integrate other capabilities. Other ros tools can be temporarily made functional via the ros2 enable checkboxes.
It's also error prone (both in the framework itself and the possibility of concurrent Image read/writes in different nodes) and lacks important features (like pub/sub objects deconstructing when no longer in use), but I need it for the image processing bandwidth.
https://github.com/lucasw/imgui_ros/issues/70
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