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I don't know about any existing way to get json directly, but the output of rosmsg show should be relatively easy to parse and transform into json. e.g.:

$ rosmsg show sensor_msgs/CameraInfo
Header header
  uint32 seq
  time stamp
  string frame_id
uint32 height
uint32 width
RegionOfInterest roi
  uint32 x_offset
  uint32 y_offset
  uint32 height
  uint32 width
float64[5] D
float64[9] K
float64[9] R
float64[12] P

And if you're into python, you can checkout the implementation of rosmsg here