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So this turns out to be a case where multiple node handles is the answer. With:

ros::NodeHandle nh("sxs_stereo");
ros::NodeHandle nh_left(nh, "left");
ros::NodeHandle nh_right(nh, "right");
...
left_cinfo_ =
    new camera_info_manager::CameraInfoManager(nh_left);
right_cinfo_ =
    new camera_info_manager::CameraInfoManager(nh_right);

The result is sensible service names, and the camera calibrator is happy.