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Hi,

if I got your question correctly then I can tell you what I usually do for calibrating a camera:

1. You can use kalibr to obtain a yaml file containing the calibration of your camera. See its readme page and the wiki. It's better if you use an aprilgrid if you have one, instead of the check-board.
2. You can use the yaml file obtained from kalibr with one node of the repo image_undistort. For example, in case of just one camera you can use image_undistort_node to rectify images and publish the camera_info topic. Have a look at the readme file. Moreover in the 'launch' folder you can fine some examples.

I hope this helps.

Regards,

Marco.