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In the ROS1 image_transport, it is assumed that the camera_info topic should be a peer to the topic that the data is being published on, so for example

• stereo/left/image (sensor_msgs/Image)
• stereo/left/image/compressed (<transport-specific type="">)
• stereo/left/image/theora (<transport-specific type="">)
• stereo/left/camera_info (sensor_msgs/CameraInfo)

The goal with the port of image_transport to ROS2 was to reproduce the behavior from ROS1, so I believe that this is a bug in the way that RViz handles it. The quick fix would be to adjust this in RViz, but I believe a better fix would be to also bring the new image_transport functionality into RViz.