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Hello and welcome!

First I'd suggest reading the many posts on answers.ros that are tagged usb_cam, uvc_camera, etc. and check out those packages on ros.org/wiki.

(There are several other options for camera "drivers" too, but these are as good a place to start as any... for that matter.. take a look at this package too..)

Second, I'd take a look at the Image message which is a part of the sensor_msgs package, so that you understand what is in an image message.

An image is sent in a single Image message..