Cooking raw brats over a fire is only dodgy because cooking brats well requires fairly precise (for a campfire) temperature control. Even with hot dogs, it can be a bit challenging to get the whole thing consistently cooked through without burning the outside. With a bratwurst, its larger size makes that especially difficult without some skill or tools.
If you are skilled and patient, you can however cook them over a fire, just like with anything else. However, because of the extra challenge, fully cooked brats and sausages are better. If your fully cooked brats you bought could be eaten right out of the cold package, then you should be fine.
As to pork vs other meats, pork was a bit more dangerous than beef because of Trichinosis, however to my knowledge in the developed world it is quite uncommon. This is probably why people in your group had that position. However, other common meats have plenty of other nasty critters in them, so it's debatable whether pork is actually any worse.
Much of the danger of a particular meat today is not so much the animal it comes from, but from its preparation. Even chicken meat can be consumed raw if the animal was well cared for and kept free of disease. However, unless you've sourced your meat from a world-class shop, assume it is crawling with dangerous microbes that must be eradicated via cooking, because it almost surely is.
Ultimately, all cooking involves the application of heat, so there is nothing that should not be cooked over a campfire, from a safety perspective. You'll just have to learn the techniques of campfire cooking and you'll be able to cook virtually anything.