libcamera and ros2_vv2_camera issue

I am having a little problem: I have a raspi 4 with a Raspi Camera v2. I believe it is properly connected to the pi. On a brand new install of ubuntu 24.04. I installed libcamera and v4l. It seems to be working correctly, but I am not getting an image. Here is some info:

[dome:~] v4l2-ctl --list-devices
bcm2835-codec-decode (platform:bcm2835-codec):
	/dev/video10
	/dev/video11
	/dev/video12
	/dev/video18
	/dev/video31
	/dev/media3

bcm2835-isp (platform:bcm2835-isp):
	/dev/video13
	/dev/video14
	/dev/video15
	/dev/video16
	/dev/video20
	/dev/video21
	/dev/video22
	/dev/video23
	/dev/media2
	/dev/media4

unicam (platform:fe801000.csi):
	/dev/video0
	/dev/media1

rpivid (platform:rpivid):
	/dev/video19
	/dev/media0

[dome:~] v4l2-ctl -D
Driver Info:
	Driver name      : unicam
	Card type        : unicam
	Bus info         : platform:fe801000.csi
	Driver version   : 6.8.12
	Capabilities     : 0xa5a00001
		Video Capture
		Metadata Capture
		I/O MC
		Read/Write
		Streaming
		Extended Pix Format
		Device Capabilities
	Device Caps      : 0x25200001
		Video Capture
		I/O MC
		Read/Write
		Streaming
		Extended Pix Format
Media Driver Info:
	Driver name      : unicam
	Model            : unicam
	Serial           :
	Bus info         : platform:fe801000.csi
	Media version    : 6.8.12
	Hardware revision: 0x00000000 (0)
	Driver version   : 6.8.12
Interface Info:
	ID               : 0x03000005
	Type             : V4L Video
Entity Info:
	ID               : 0x00000003 (3)
	Name             : unicam-image
	Function         : V4L2 I/O
	Flags            : default
	Pad 0x01000004   : 0: Sink
	  Link 0x02000007: from remote pad 0x1000002 of entity 'imx219 10-0010' (Camera Sensor): Data, Enabled, Immutable

[dome:~] vcgencmd get_camera supported=0 detected=0, libcamera interfaces=0

So far I have not had to build anything locally. I followed your instructions and I am damn close. But not yet.

I have seen contradictory info about whether I should change config.txt by adding

start_x=1 gpu_mem=128 And using Raspi-config to setup "legacy camera"

But I have not tried it because I have heard that those settings are no longer relevant with libcamera. Can you take a look please?