usb_cam outbuf size mismatch; possibly different format?

I'm using usb_cam with a camera that supports mjpeg, but I'm getting errors. The camera supports these formats: $ v4l2-ctl --device=0 --list-formats-ext ioctl: VIDIOC_ENUM_FMT Index : 0 Type : Video Capture Pixel Format: 'MJPG' (compressed) Name : Motion-JPEG Size: Discrete 1920x1080 Interval: Discrete 0.033s (30.000 fps) Interval: Discrete 0.040s (25.000 fps) Interval: Discrete 0.067s (15.000 fps) Size: Discrete 1280x720 Interval: Discrete 0.033s (30.000 fps) Interval: Discrete 0.040s (25.000 fps) Interval: Discrete 0.067s (15.000 fps) Size: Discrete 800x600 Interval: Discrete 0.033s (30.000 fps) Interval: Discrete 0.040s (25.000 fps) Interval: Discrete 0.067s (15.000 fps) Size: Discrete 640x480 Interval: Discrete 0.033s (30.000 fps) Interval: Discrete 0.040s (25.000 fps) Interval: Discrete 0.067s (15.000 fps) Size: Discrete 640x360 Interval: Discrete 0.033s (30.000 fps) Interval: Discrete 0.040s (25.000 fps) Interval: Discrete 0.067s (15.000 fps) Size: Discrete 352x288 Interval: Discrete 0.033s (30.000 fps) Interval: Discrete 0.040s (25.000 fps) Interval: Discrete 0.067s (15.000 fps) Size: Discrete 320x240 Interval: Discrete 0.033s (30.000 fps) Interval: Discrete 0.040s (25.000 fps) Interval: Discrete 0.067s (15.000 fps) Size: Discrete 1920x1080 Interval: Discrete 0.033s (30.000 fps) Interval: Discrete 0.040s (25.000 fps) Interval: Discrete 0.067s (15.000 fps) Index : 1 Type : Video Capture Pixel Format: 'YUYV' Name : YUYV 4:2:2 Size: Discrete 640x480 Interval: Discrete 0.033s (30.000 fps) Interval: Discrete 0.040s (25.000 fps) Interval: Discrete 0.067s (15.000 fps) Size: Discrete 800x600 Interval: Discrete 0.067s (15.000 fps) Size: Discrete 640x360 Interval: Discrete 0.033s (30.000 fps) Interval: Discrete 0.040s (25.000 fps) Interval: Discrete 0.067s (15.000 fps) Size: Discrete 352x288 Interval: Discrete 0.033s (30.000 fps) Interval: Discrete 0.040s (25.000 fps) Interval: Discrete 0.067s (15.000 fps) Size: Discrete 320x240 Interval: Discrete 0.033s (30.000 fps) Interval: Discrete 0.040s (25.000 fps) Interval: Discrete 0.067s (15.000 fps) Size: Discrete 640x480 Interval: Discrete 0.033s (30.000 fps) Interval: Discrete 0.040s (25.000 fps) Interval: Discrete 0.067s (15.000 fps) Here's my launch file: At 640x480 I get an image, but I also get lots of messages like this: [swscaler @ 0x1433780] deprecated pixel format used, make sure you did set range correctly At 800x600 (and above) I do not get an image, but I do get lots of these messages: [ERROR] ros.usb_cam: outbuf size mismatch. pic_size: 720000 bufsize: 960000 Interestingly, bufsize is always 2 bytes per pixel, while pic_size is always 1.5 bytes per pixel. I'm no video expert, but this smells like YUV 4:2:2 vs. YUV 4:2:0. But I really don't know where to go next. Thanks, /Clyde