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Well you could use the Raspberry Pi Camera node that is found here:

https://github.com/UbiquityRobotics/raspicam_node

Or if you want to make life really easy for yourself you could just download a raspberry pi image that has the camera node, and all the drivers, and ROS already set up. That's available from here:

https://downloads.ubiquityrobotics.com

as always please report any bugs, issues or feature enhancements ideas at github.com/UbiquityRobotics. PRs with enhancements are particularly welcome and a friendly email to contact@ubiquityrobotics.com is always nice if something that our little project produced is useful for you.