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UPDATE

The usb_cam driver decodes the image and passes it directly to the image_transport publisher, so it isn't passing mjpeg images through directly.

The "quick and dirty" approach mentioned by the compressed_image_transport page is dirty because it only publishes compressed images, and doesn't provide the uncompressed images that most other ROS nodes expect.

If you really want compressed images directly from the camera you'll have to modify the source for the usb_cam driver or write a new camera driver. You'll probably want to stop using the image_transport library and implement image transport yourself, either:

• Do the "quick and dirty" solution, and publish directly to the compressed image topic
• Publish directly on the compressed topic, and decompress the image and publish a copy to the image_raw topic.