code: def rosmsg(self):
          
          from sensor_msgs.msg import CameraInfo, RegionOfInterest
          from std_msgs.msg import Header
  
          msg_header = Header()
          msg_header.frame_id = self._frame
  
          msg_roi = RegionOfInterest()
          msg_roi.x_offset = 0
          msg_roi.y_offset = 0
          msg_roi.height = 0
          msg_roi.width = 0
          msg_roi.do_rectify = 0
  
          msg = CameraInfo()
          msg.header = msg_header
          msg.height = self._height
          msg.width = self._width
          msg.distortion_model = 'plumb_bob'
          msg.D = [0.0, 0.0, 0.0, 0.0, 0.0]
          msg.K = [self._fx, 0.0, self._cx, 0.0, self._fy, self._cy, 0.0, 0.0, 1.0]
          msg.R = [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
          msg.P = [self._fx, 0.0, self._cx, 0.0, 0.0, self._fx, self._cy, 0.0, 0.0, 0.0, 1.0, 0.0]
          msg.binning_x = 0
          msg.binning_y = 0
          msg.roi = msg_roi
  
          return msg
docs: :obj:`sensor_msgs.CamerInfo` : Returns ROS CamerInfo msg