diff --git a/sensor_msgs/msg/CompressedImage.msg b/sensor_msgs/msg/CompressedImage.msg
index 0b0b4f53..12a724d5 100644
--- a/sensor_msgs/msg/CompressedImage.msg
+++ b/sensor_msgs/msg/CompressedImage.msg
@@ -8,7 +8,34 @@ std_msgs/Header header # Header timestamp should be acquisition time of image
                              # +z should point into to plane of the image
 
 string format                # Specifies the format of the data
-                             #   Acceptable values:
-                             #     jpeg, png, tiff
+                             # Acceptable values differ by the image transport used:
+                             # - compressed_image_transport:
+                             #     ORIG_PIXFMT; CODEC compressed [COMPRESSED_PIXFMT]
+                             #   where:
+                             #   - ORIG_PIXFMT is pixel format of the raw image, i.e.
+                             #     the content of sensor_msgs/Image/encoding with
+                             #     values from include/sensor_msgs/image_encodings.h
+                             #   - CODEC is one of [jpeg, png, tiff]
+                             #   - COMPRESSED_PIXFMT is only appended for color images
+                             #     and is the pixel format used by the compression
+                             #     algorithm. Valid values for jpeg encoding are:
+                             #     [bgr8, rgb8]. Valid values for png encoding are:
+                             #     [bgr8, rgb8, bgr16, rgb16].
+                             #   If the field is empty or does not correspond to the
+                             #   above pattern, the image is treated as bgr8 or mono8
+                             #   jpeg image (depending on the number of channels).
+                             # - compressed_depth_image_transport:
+                             #     ORIG_PIXFMT; compressedDepth CODEC
+                             #   where:
+                             #   - ORIG_PIXFMT is pixel format of the raw image, i.e.
+                             #     the content of sensor_msgs/Image/encoding with
+                             #     values from include/sensor_msgs/image_encodings.h
+                             #     It is usually one of [16UC1, 32FC1].
+                             #   - CODEC is one of [png, rvl]
+                             #   If the field is empty or does not correspond to the
+                             #   above pattern, the image is treated as png image.
+                             # - Other image transports can store whatever values they
+                             #   need for successful decoding of the image. Refer to
+                             #   documentation of the other transports for details.
 
 uint8[] data                 # Compressed image buffer