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The same problem occurs doing the tutorial on Diamondback and the bag file as of 22nd March. (md5sum is f5aece448b7af00a38a993eb71400806)

To check:

rosbag check vslam_tutorial.bag
The following migrations need to occur:
 * From: sensor_msgs/CameraInfo [1b5cf7f984c229b6141ceb3a955aa18f]
   To:   sensor_msgs/CameraInfo [c9a58c1b0b154e0e6da7578cb991d214]

To fix:

rosbag fix vslam_tutorial.bag vslam_tutorial_diamondback.bag

To play the modified bag:

rosbag play --clock vslam_tutorial_diamondback.bag