@tahawaru please pull down the latest dev branch: https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros2/-/tree/dev?ref_type=heads
You can rebuild with the dev branch and see if you can both ros2 topic echo and rosbag record the encoded images. Please be aware that you will need to manually decode the images somehow on the receiving end (your application) as there isn't a built-in way in ros2/rviz to decode.