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Because you are using Ubuntu 18, I am assuming you are using ROS Melodic.

Starting with ROS Kinetic web_video_server is a replacement of mjpeg_server

Maybe that is not exactly what you are looking for but from my web_video_server experience I know you can view compressed image topic by adding &type=ros_compressed to the URL.

So I hope that following URL will also work for you in mjpeg_server case:

http://192.168.4.1:8181/stream?topic=/camera/image&type=ros_compressed

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