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The easiest method is using camera_info_manager. It will advertise the service for you, provide up-to-date CameraInfo data for you to publish, and store the updated calibration information using a user-provided URL.

~~The easiest method is~~ I recommend using camera_info_manager.

It will advertise the service for you, provide up-to-date CameraInfo data for you to publish, and store the updated calibration ~~information using a user-provided URL.~~information. It uses camera_calibration_parsers, internally, so you need not worry about that.

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