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How to broadcast hardware-encoded video from the logitech C920 to ROS?

The task is as follows: there is a camera logitech c920 with a built-in hardware video encoder in h264, it's connected to BeagleBone Blue (but it's really not important, since instead of it there may be at least raspberry pi, though a laptop, since it's still full of ubuntu ) on it, respectively, ubuntu 16.04 with ROS Kinetic slave and transfer the video over the local wifi network to the laptop with the ROS master. How to get the video from the camera already encoded and transmit it to the ROS master without re-encoding to BeagleBone Blue?