ROSBridge Message Error for sensor_msgs/CameraInfo

[andreschreiber]

I'm running ROS Noetic and Ubuntu 20.04 on a machine running ROS Bridge, and when I try to receive sensor_msgs/CameraInfo data published from UE4, ROSBridge reports an error: "publish: Message type sensor_msgs/CameraInfo does not have a field d"

[andreschreiber]

Adding this in case anyone else has the issue. It's due to _bson_append_camera_info having its names for D, K, P, and R being lower-case (they should be uppercase). Adjusting the code (lines 61-64 on SensorMsgsCameraInfoConverter.h) to be:

_bson_append_double_tarray(b, "D", msg->D);
_bson_append_double_tarray(b, "K", msg->K);
_bson_append_double_tarray(b, "R", msg->R);
_bson_append_double_tarray(b, "P", msg->P);	

fixes the issue.

[tsender]

I apologize for causing this error. When I cleaned up the converters a while back, I must have overlooked those fields.