nicolas-beaufort issues

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nicolas-beaufort

remove blank image issue, and remove useless conversion

remove this issue: https://github.com/dusty-nv/jetbot_ros/issues/2 need jetson-utils pull request (https://github.com/dusty-nv/jetson-utils/pull/5) to work.

add some cuda conversion to avoid useless conversion

This pull-request add some cuda conversion to avoid useless conversion like NV12ToBGR8.