How to calibrate the position of a LIDAR camera with the origin of a robotic arm.

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Hi all,

I have been googling and trying to search on different tutorials without any luck.

I got 6 degrees of freedom robotic arm (eDO robotic arm from Comau) and two Intel Real sense L515 cameras.

I have measured the position between my camera and my ruler in order to perform some grasping of objects that the camera is detecting, but after some time I see that this is not precise enough.

How can I calibrate the camera to the origin of my robotic arm? I found something called Extrinsic calibration but the packages that I found is for ROS-industrial, is that compatible with normal ros-melodic?

Any hint on any frameworks or methodology would be really helpful.