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If you have two cameras in your driver both cameras should publish to separate topics, e. g.

/stereo_camera/left/image_raw
/stereo_camera/left/camera_info
/stereo_camera/right/image_raw
/stereo_camera/right/camera_info

Now you can have 2 camera info managers in the same driver node for both cameras; but the 2 camera info managers should be remapped to separate topic, identical with the camera namepaces

E. g. first camera info manager for left camera

/stereo_camera/left/set_camera_info

second camera info manager for right camera

/stereo_camera/right/set_camera_info

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