Catechism of the Council of Trent (or Roman Catechism)
"On this class of persons, however, the Church was not accustomed to confer this sacrament immediately, but ordained that it should be deferred to a certain time, nor is the delay attended with the danger already noticed in the case of infants, for, should any unforeseen accident render it impossible for adults to be baptised, their intention of receiving it, and their repentance for past sins, will avail them to grace and righteousness"
"In Dominico Argo" encyclical by Pope Clement XIII
"As our predecessors understood that that holy meeting of the universal Church was so prudent in judgment and so moderate that it abstained from condemning ideas which authorities among Church scholars supported, they wanted another work prepared with the agreement of that holy council which would cover the entire teaching which the faithful should know and which would be far removed from any error. They printed and distributed this book under the title of The Roman Catechism. There are aspects of their action worthy of special praise. In it they compiled the teaching which is common to the whole Church and which is far removed from every danger of error, and they proposed to transmit it openly to the faithful in very eloquent words according to the precept of Christ the Lord who told the apostles to proclaim in the light what He had said in the dark and to proclaim from the rooftops what they heard in secret."
Since the encyclical of Pope Clement XIII declared that there are no errors contained within the Roman Catechism, and since the Catechism teaches that which would typically be referred to as "baptism of desire", "baptism of desire" is not erroneous, but the teaching of the Church.
May all come to the truth of Catholicism and the Pope (see "Catholic Truth" on YouTube for more information).