In the launch file for raspicam.launch, the given enviroment variable for GSCAM_CONFIG didn't work for me. I had to modify it to this:
`<env name="GSCAM_CONFIG" value="udpsrc port=9000 ! application/x-rtp, payload=96 ! rtph264depay ! ffdec_h264 ! ffmpegcolorspace ! avdec_h264 ! videoconvert" />`
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