diff --git a/internal/__snapshots__/exportTypeScriptSchemas.test.ts.snap b/internal/__snapshots__/exportTypeScriptSchemas.test.ts.snap
index 8915f97..2c143dd 100644
--- a/internal/__snapshots__/exportTypeScriptSchemas.test.ts.snap
+++ b/internal/__snapshots__/exportTypeScriptSchemas.test.ts.snap
@@ -51,7 +51,7 @@ export type CameraCalibration = {
   /**
    * Name of distortion model
    * 
-   * Supported parameters are \`plumb_bob\` (k1, k2, p1, p2, k3) and \`rational_polynomial\` (k1, k2, p1, p2, k3, k4, k5, k6) distortion based on [OpenCV's implementation](https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html) of the [Brown-Conrady pinhole camera model](https://en.wikipedia.org/wiki/Distortion_%28optics%29#Software_correction). This is the same [implementation used by ROS](http://docs.ros.org/en/diamondback/api/image_geometry/html/c++/pinhole__camera__model_8cpp_source.html)
+   * Supported parameters: \`plumb_bob\` (k1, k2, p1, p2, k3) and \`rational_polynomial\` (k1, k2, p1, p2, k3, k4, k5, k6). Distortion models are based on [OpenCV's](https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html) [pinhole camera model](https://en.wikipedia.org/wiki/Distortion_%28optics%29#Software_correction). This is the same [implementation used by ROS](http://docs.ros.org/en/diamondback/api/image_geometry/html/c++/pinhole__camera__model_8cpp_source.html)
    */
   distortion_model: string;
 
diff --git a/internal/schemas.ts b/internal/schemas.ts
index 6bf6c9e..9aa0708 100644
--- a/internal/schemas.ts
+++ b/internal/schemas.ts
@@ -693,7 +693,7 @@ const CameraCalibration: FoxgloveMessageSchema = {
       name: "distortion_model",
       type: { type: "primitive", name: "string" },
       description:
-        "Name of distortion model\n\nSupported parameters are `plumb_bob` (k1, k2, p1, p2, k3) and `rational_polynomial` (k1, k2, p1, p2, k3, k4, k5, k6) distortion based on [OpenCV's implementation](https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html) of the [Brown-Conrady pinhole camera model](https://en.wikipedia.org/wiki/Distortion_%28optics%29#Software_correction). This is the same [implementation used by ROS](http://docs.ros.org/en/diamondback/api/image_geometry/html/c++/pinhole__camera__model_8cpp_source.html)",
+        "Name of distortion model\n\nSupported parameters: `plumb_bob` (k1, k2, p1, p2, k3) and `rational_polynomial` (k1, k2, p1, p2, k3, k4, k5, k6). Distortion models are based on [OpenCV's](https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html) [pinhole camera model](https://en.wikipedia.org/wiki/Distortion_%28optics%29#Software_correction). This is the same [implementation used by ROS](http://docs.ros.org/en/diamondback/api/image_geometry/html/c++/pinhole__camera__model_8cpp_source.html)",
     },
     {
       name: "D",
diff --git a/package.json b/package.json
index 5d890fc..4ea5f1e 100644
--- a/package.json
+++ b/package.json
@@ -42,7 +42,7 @@
     "eslint-plugin-import": "2.27.5",
     "eslint-plugin-jest": "27.2.1",
     "eslint-plugin-prettier": "4.2.1",
-    "jest": "^29.7.0",
+    "jest": "29.4.3",
     "prettier": "2.8.4",
     "protobufjs": "^7.2.2",
     "rimraf": "^4.1.2",
diff --git a/ros_foxglove_msgs/ros1/CameraCalibration.msg b/ros_foxglove_msgs/ros1/CameraCalibration.msg
index 7fabb76..c0cc366 100644
--- a/ros_foxglove_msgs/ros1/CameraCalibration.msg
+++ b/ros_foxglove_msgs/ros1/CameraCalibration.msg
@@ -17,7 +17,7 @@ uint32 height
 
 # Name of distortion model
 # 
-# Supported parameters are `plumb_bob` (k1, k2, p1, p2, k3) and `rational_polynomial` (k1, k2, p1, p2, k3, k4, k5, k6) distortion based on [OpenCV's implementation](https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html) of the [Brown-Conrady pinhole camera model](https://en.wikipedia.org/wiki/Distortion_%28optics%29#Software_correction). This is the same [implementation used by ROS](http://docs.ros.org/en/diamondback/api/image_geometry/html/c++/pinhole__camera__model_8cpp_source.html)
+# Supported parameters: `plumb_bob` (k1, k2, p1, p2, k3) and `rational_polynomial` (k1, k2, p1, p2, k3, k4, k5, k6). Distortion models are based on [OpenCV's](https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html) [pinhole camera model](https://en.wikipedia.org/wiki/Distortion_%28optics%29#Software_correction). This is the same [implementation used by ROS](http://docs.ros.org/en/diamondback/api/image_geometry/html/c++/pinhole__camera__model_8cpp_source.html)
 string distortion_model
 
 # Distortion parameters
diff --git a/ros_foxglove_msgs/ros2/CameraCalibration.msg b/ros_foxglove_msgs/ros2/CameraCalibration.msg
index 4a08b38..574fccc 100644
--- a/ros_foxglove_msgs/ros2/CameraCalibration.msg
+++ b/ros_foxglove_msgs/ros2/CameraCalibration.msg
@@ -17,7 +17,7 @@ uint32 height
 
 # Name of distortion model
 # 
-# Supported parameters are `plumb_bob` (k1, k2, p1, p2, k3) and `rational_polynomial` (k1, k2, p1, p2, k3, k4, k5, k6) distortion based on [OpenCV's implementation](https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html) of the [Brown-Conrady pinhole camera model](https://en.wikipedia.org/wiki/Distortion_%28optics%29#Software_correction). This is the same [implementation used by ROS](http://docs.ros.org/en/diamondback/api/image_geometry/html/c++/pinhole__camera__model_8cpp_source.html)
+# Supported parameters: `plumb_bob` (k1, k2, p1, p2, k3) and `rational_polynomial` (k1, k2, p1, p2, k3, k4, k5, k6). Distortion models are based on [OpenCV's](https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html) [pinhole camera model](https://en.wikipedia.org/wiki/Distortion_%28optics%29#Software_correction). This is the same [implementation used by ROS](http://docs.ros.org/en/diamondback/api/image_geometry/html/c++/pinhole__camera__model_8cpp_source.html)
 string distortion_model
 
 # Distortion parameters
diff --git a/schemas/README.md b/schemas/README.md
index 195358e..d03ca1f 100644
--- a/schemas/README.md
+++ b/schemas/README.md
@@ -299,7 +299,7 @@ string
 
 Name of distortion model
 
-Supported parameters are `plumb_bob` (k1, k2, p1, p2, k3) and `rational_polynomial` (k1, k2, p1, p2, k3, k4, k5, k6) distortion based on [OpenCV's implementation](https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html) of the [Brown-Conrady pinhole camera model](https://en.wikipedia.org/wiki/Distortion_%28optics%29#Software_correction). This is the same [implementation used by ROS](http://docs.ros.org/en/diamondback/api/image_geometry/html/c++/pinhole__camera__model_8cpp_source.html)
+Supported parameters: `plumb_bob` (k1, k2, p1, p2, k3) and `rational_polynomial` (k1, k2, p1, p2, k3, k4, k5, k6). Distortion models are based on [OpenCV's](https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html) [pinhole camera model](https://en.wikipedia.org/wiki/Distortion_%28optics%29#Software_correction). This is the same [implementation used by ROS](http://docs.ros.org/en/diamondback/api/image_geometry/html/c++/pinhole__camera__model_8cpp_source.html)
 
 </td>
 </tr>
diff --git a/schemas/flatbuffer/CameraCalibration.fbs b/schemas/flatbuffer/CameraCalibration.fbs
index 66e7087..235ad63 100644
--- a/schemas/flatbuffer/CameraCalibration.fbs
+++ b/schemas/flatbuffer/CameraCalibration.fbs
@@ -20,7 +20,7 @@ table CameraCalibration {
 
   /// Name of distortion model
   /// 
-  /// Supported parameters are `plumb_bob` (k1, k2, p1, p2, k3) and `rational_polynomial` (k1, k2, p1, p2, k3, k4, k5, k6) distortion based on [OpenCV's implementation](https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html) of the [Brown-Conrady pinhole camera model](https://en.wikipedia.org/wiki/Distortion_%28optics%29#Software_correction). This is the same [implementation used by ROS](http://docs.ros.org/en/diamondback/api/image_geometry/html/c++/pinhole__camera__model_8cpp_source.html)
+  /// Supported parameters: `plumb_bob` (k1, k2, p1, p2, k3) and `rational_polynomial` (k1, k2, p1, p2, k3, k4, k5, k6). Distortion models are based on [OpenCV's](https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html) [pinhole camera model](https://en.wikipedia.org/wiki/Distortion_%28optics%29#Software_correction). This is the same [implementation used by ROS](http://docs.ros.org/en/diamondback/api/image_geometry/html/c++/pinhole__camera__model_8cpp_source.html)
   distortion_model:string;
 
   /// Distortion parameters
diff --git a/schemas/jsonschema/CameraCalibration.json b/schemas/jsonschema/CameraCalibration.json
index a32183d..7ccab14 100644
--- a/schemas/jsonschema/CameraCalibration.json
+++ b/schemas/jsonschema/CameraCalibration.json
@@ -36,7 +36,7 @@
     },
     "distortion_model": {
       "type": "string",
-      "description": "Name of distortion model\n\nSupported parameters are `plumb_bob` (k1, k2, p1, p2, k3) and `rational_polynomial` (k1, k2, p1, p2, k3, k4, k5, k6) distortion based on [OpenCV's implementation](https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html) of the [Brown-Conrady pinhole camera model](https://en.wikipedia.org/wiki/Distortion_%28optics%29#Software_correction). This is the same [implementation used by ROS](http://docs.ros.org/en/diamondback/api/image_geometry/html/c++/pinhole__camera__model_8cpp_source.html)"
+      "description": "Name of distortion model\n\nSupported parameters: `plumb_bob` (k1, k2, p1, p2, k3) and `rational_polynomial` (k1, k2, p1, p2, k3, k4, k5, k6). Distortion models are based on [OpenCV's](https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html) [pinhole camera model](https://en.wikipedia.org/wiki/Distortion_%28optics%29#Software_correction). This is the same [implementation used by ROS](http://docs.ros.org/en/diamondback/api/image_geometry/html/c++/pinhole__camera__model_8cpp_source.html)"
     },
     "D": {
       "type": "array",
diff --git a/schemas/jsonschema/index.ts b/schemas/jsonschema/index.ts
index 8605226..d995011 100644
--- a/schemas/jsonschema/index.ts
+++ b/schemas/jsonschema/index.ts
@@ -135,7 +135,7 @@ export const CameraCalibration = {
     },
     "distortion_model": {
       "type": "string",
-      "description": "Name of distortion model\n\nSupported parameters are `plumb_bob` (k1, k2, p1, p2, k3) and `rational_polynomial` (k1, k2, p1, p2, k3, k4, k5, k6) distortion based on [OpenCV's implementation](https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html) of the [Brown-Conrady pinhole camera model](https://en.wikipedia.org/wiki/Distortion_%28optics%29#Software_correction). This is the same [implementation used by ROS](http://docs.ros.org/en/diamondback/api/image_geometry/html/c++/pinhole__camera__model_8cpp_source.html)"
+      "description": "Name of distortion model\n\nSupported parameters: `plumb_bob` (k1, k2, p1, p2, k3) and `rational_polynomial` (k1, k2, p1, p2, k3, k4, k5, k6). Distortion models are based on [OpenCV's](https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html) [pinhole camera model](https://en.wikipedia.org/wiki/Distortion_%28optics%29#Software_correction). This is the same [implementation used by ROS](http://docs.ros.org/en/diamondback/api/image_geometry/html/c++/pinhole__camera__model_8cpp_source.html)"
     },
     "D": {
       "type": "array",
diff --git a/schemas/omgidl/foxglove/CameraCalibration.idl b/schemas/omgidl/foxglove/CameraCalibration.idl
index 0678324..0517f10 100644
--- a/schemas/omgidl/foxglove/CameraCalibration.idl
+++ b/schemas/omgidl/foxglove/CameraCalibration.idl
@@ -20,7 +20,7 @@ struct CameraCalibration {
 
   // Name of distortion model
   // 
-  // Supported parameters are `plumb_bob` (k1, k2, p1, p2, k3) and `rational_polynomial` (k1, k2, p1, p2, k3, k4, k5, k6) distortion based on [OpenCV's implementation](https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html) of the [Brown-Conrady pinhole camera model](https://en.wikipedia.org/wiki/Distortion_%28optics%29#Software_correction). This is the same [implementation used by ROS](http://docs.ros.org/en/diamondback/api/image_geometry/html/c++/pinhole__camera__model_8cpp_source.html)
+  // Supported parameters: `plumb_bob` (k1, k2, p1, p2, k3) and `rational_polynomial` (k1, k2, p1, p2, k3, k4, k5, k6). Distortion models are based on [OpenCV's](https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html) [pinhole camera model](https://en.wikipedia.org/wiki/Distortion_%28optics%29#Software_correction). This is the same [implementation used by ROS](http://docs.ros.org/en/diamondback/api/image_geometry/html/c++/pinhole__camera__model_8cpp_source.html)
   string distortion_model;
 
   // Distortion parameters
diff --git a/schemas/proto/foxglove/CameraCalibration.proto b/schemas/proto/foxglove/CameraCalibration.proto
index e351f07..44da667 100644
--- a/schemas/proto/foxglove/CameraCalibration.proto
+++ b/schemas/proto/foxglove/CameraCalibration.proto
@@ -22,7 +22,7 @@ message CameraCalibration {
 
   // Name of distortion model
   // 
-  // Supported parameters are `plumb_bob` (k1, k2, p1, p2, k3) and `rational_polynomial` (k1, k2, p1, p2, k3, k4, k5, k6) distortion based on [OpenCV's implementation](https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html) of the [Brown-Conrady pinhole camera model](https://en.wikipedia.org/wiki/Distortion_%28optics%29#Software_correction). This is the same [implementation used by ROS](http://docs.ros.org/en/diamondback/api/image_geometry/html/c++/pinhole__camera__model_8cpp_source.html)
+  // Supported parameters: `plumb_bob` (k1, k2, p1, p2, k3) and `rational_polynomial` (k1, k2, p1, p2, k3, k4, k5, k6). Distortion models are based on [OpenCV's](https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html) [pinhole camera model](https://en.wikipedia.org/wiki/Distortion_%28optics%29#Software_correction). This is the same [implementation used by ROS](http://docs.ros.org/en/diamondback/api/image_geometry/html/c++/pinhole__camera__model_8cpp_source.html)
   string distortion_model = 4;
 
   // Distortion parameters
diff --git a/schemas/ros1/CameraCalibration.msg b/schemas/ros1/CameraCalibration.msg
index 7fabb76..c0cc366 100644
--- a/schemas/ros1/CameraCalibration.msg
+++ b/schemas/ros1/CameraCalibration.msg
@@ -17,7 +17,7 @@ uint32 height
 
 # Name of distortion model
 # 
-# Supported parameters are `plumb_bob` (k1, k2, p1, p2, k3) and `rational_polynomial` (k1, k2, p1, p2, k3, k4, k5, k6) distortion based on [OpenCV's implementation](https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html) of the [Brown-Conrady pinhole camera model](https://en.wikipedia.org/wiki/Distortion_%28optics%29#Software_correction). This is the same [implementation used by ROS](http://docs.ros.org/en/diamondback/api/image_geometry/html/c++/pinhole__camera__model_8cpp_source.html)
+# Supported parameters: `plumb_bob` (k1, k2, p1, p2, k3) and `rational_polynomial` (k1, k2, p1, p2, k3, k4, k5, k6). Distortion models are based on [OpenCV's](https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html) [pinhole camera model](https://en.wikipedia.org/wiki/Distortion_%28optics%29#Software_correction). This is the same [implementation used by ROS](http://docs.ros.org/en/diamondback/api/image_geometry/html/c++/pinhole__camera__model_8cpp_source.html)
 string distortion_model
 
 # Distortion parameters
diff --git a/schemas/ros2/CameraCalibration.msg b/schemas/ros2/CameraCalibration.msg
index 4a08b38..574fccc 100644
--- a/schemas/ros2/CameraCalibration.msg
+++ b/schemas/ros2/CameraCalibration.msg
@@ -17,7 +17,7 @@ uint32 height
 
 # Name of distortion model
 # 
-# Supported parameters are `plumb_bob` (k1, k2, p1, p2, k3) and `rational_polynomial` (k1, k2, p1, p2, k3, k4, k5, k6) distortion based on [OpenCV's implementation](https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html) of the [Brown-Conrady pinhole camera model](https://en.wikipedia.org/wiki/Distortion_%28optics%29#Software_correction). This is the same [implementation used by ROS](http://docs.ros.org/en/diamondback/api/image_geometry/html/c++/pinhole__camera__model_8cpp_source.html)
+# Supported parameters: `plumb_bob` (k1, k2, p1, p2, k3) and `rational_polynomial` (k1, k2, p1, p2, k3, k4, k5, k6). Distortion models are based on [OpenCV's](https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html) [pinhole camera model](https://en.wikipedia.org/wiki/Distortion_%28optics%29#Software_correction). This is the same [implementation used by ROS](http://docs.ros.org/en/diamondback/api/image_geometry/html/c++/pinhole__camera__model_8cpp_source.html)
 string distortion_model
 
 # Distortion parameters
diff --git a/schemas/typescript/CameraCalibration.ts b/schemas/typescript/CameraCalibration.ts
index cb9c9e5..a2660a2 100644
--- a/schemas/typescript/CameraCalibration.ts
+++ b/schemas/typescript/CameraCalibration.ts
@@ -20,7 +20,7 @@ export type CameraCalibration = {
   /**
    * Name of distortion model
    * 
-   * Supported parameters are `plumb_bob` (k1, k2, p1, p2, k3) and `rational_polynomial` (k1, k2, p1, p2, k3, k4, k5, k6) distortion based on [OpenCV's implementation](https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html) of the [Brown-Conrady pinhole camera model](https://en.wikipedia.org/wiki/Distortion_%28optics%29#Software_correction). This is the same [implementation used by ROS](http://docs.ros.org/en/diamondback/api/image_geometry/html/c++/pinhole__camera__model_8cpp_source.html)
+   * Supported parameters: `plumb_bob` (k1, k2, p1, p2, k3) and `rational_polynomial` (k1, k2, p1, p2, k3, k4, k5, k6). Distortion models are based on [OpenCV's](https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html) [pinhole camera model](https://en.wikipedia.org/wiki/Distortion_%28optics%29#Software_correction). This is the same [implementation used by ROS](http://docs.ros.org/en/diamondback/api/image_geometry/html/c++/pinhole__camera__model_8cpp_source.html)
    */
   distortion_model: string;