diff --git a/camera_calibration/doc/api.rst b/camera_calibration/doc/api.rst
new file mode 100644
index 000000000..b898197c5
--- /dev/null
+++ b/camera_calibration/doc/api.rst
@@ -0,0 +1,8 @@
+API Documentation
+=================
+
+.. autoclass:: camera_calibration.calibrator.MonoCalibrator
+    :members:
+
+.. autoclass:: camera_calibration.calibrator.StereoCalibrator
+    :members:
diff --git a/camera_calibration/doc/changes.rst b/camera_calibration/doc/changes.rst
new file mode 100644
index 000000000..264172a21
--- /dev/null
+++ b/camera_calibration/doc/changes.rst
@@ -0,0 +1,12 @@
+Changelog Notes
+===============
+
+Jazzy Jalisco
+-------------
+There are several major change between ``Iron`` and ``Jazzy``:
+
+ * All components now properly support ``image_transport`` parameter.
+ * All components now properly support remapping the ``camera_info`` topic
+   for an associated ``image`` topic. For instance, if you remap ``image``
+   to ``my/image`` then ``my/camera_info`` will be used. Previously you
+   would have to manually remap the ``camera_info`` topic.
diff --git a/camera_calibration/doc/components.rst b/camera_calibration/doc/components.rst
new file mode 100644
index 000000000..ec01c7bc3
--- /dev/null
+++ b/camera_calibration/doc/components.rst
@@ -0,0 +1,52 @@
+Nodes
+=====
+
+This package includes a number of ROS 2 components that can be assembled
+into image processing pipelines.
+See the tutorial :ref:`Launch image_proc Components`.
+
+Alternatively, each component can be run as a standalone node.
+
+camera_calibrator
+-----------------
+``cameracalibrator`` subscribes to ROS raw image topics, and presents a
+calibration window. It can run in both monocular and stereo modes.
+The calibration window shows the current images from the cameras,
+highlighting the checkerboard. When the user presses the **CALIBRATE**
+button, the node computes the camera calibration parameters. When the
+user clicks **COMMIT**, the node uploads these new calibration parameters
+to the camera driver using a service call.
+
+Subscribed Topics
+^^^^^^^^^^^^^^^^^
+ * **image** (sensor_msgs/Image): Raw image topic, for monocular cameras.
+ * **left** (sensor_msgs/Image): Raw left image topic, for stereo cameras.
+ * **right** (sensor_msgs/Image): Raw right image topic, for stereo cameras.
+
+Services Called
+^^^^^^^^^^^^^^^
+ * **camera/set_camera_info** (sensor_msgs/SetCameraInfo): Sets the camera
+   info for a monocular camera.
+ * **left_camera/set_camera_info** (sensor_msgs/SetCameraInfo): Sets the camera
+   info for the left camera of a stereo pair.
+ * **right_camera/set_camera_info** (sensor_msgs/SetCameraInfo): Sets the camera
+   info for the right camera of a stereo pair.
+
+camera_check
+------------
+``cameracheck`` subscribes to ROS rectified image topics and their associated
+camera_info, and prints out an error estimate. It can run in both monocular
+and stereo modes. The program expects to see a standard checkerboard target.
+
+Subscribed Topics
+^^^^^^^^^^^^^^^^^
+ * **monocular/image** (sensor_msgs/Image): Rectified image topic, for
+   monocular camera.
+ * **monocular/camera_info** (sensor_msgs/CameraInfo): Camera info for
+   the monocular camera.
+ * **stereo/left/image** (sensor_msgs/Image): Rectified left image topic,
+   for stereo cameras.
+ * **stereo/right/image** (sensor_msgs/Image): Rectified right image topic,
+   for stereo cameras.
+ * **stereo/camera_info** (sensor_msgs/CameraInfo): Camera info for the
+   stereo pair.
diff --git a/camera_calibration/doc/conf.py b/camera_calibration/doc/conf.py
index 82ad7fe0b..c4e4bd79f 100644
--- a/camera_calibration/doc/conf.py
+++ b/camera_calibration/doc/conf.py
@@ -22,7 +22,13 @@
 
 # Add any Sphinx extension module names here, as strings. They can be extensions
 # coming with Sphinx (named 'sphinx.ext.*') or your custom ones.
-extensions = ['sphinx.ext.autodoc', 'sphinx.ext.doctest', 'sphinx.ext.intersphinx', 'sphinx.ext.pngmath']
+extensions = [
+    'sphinx.ext.autodoc',
+    'sphinx.ext.autosummary',
+    'sphinx.ext.doctest',
+    'sphinx.ext.coverage',
+    'sphinx_rtd_theme',
+]
 
 # Add any paths that contain templates here, relative to this directory.
 templates_path = ['_templates']
@@ -40,12 +46,6 @@
 project = 'camera_calibration'
 copyright = '2009, Willow Garage, Inc.'
 
-# The version info for the project you're documenting, acts as replacement for
-# |version| and |release|, also used in various other places throughout the
-# built documents.
-#
-# The short X.Y version.
-version = '0.1'
 # The full version, including alpha/beta/rc tags.
 release = '0.1.0'
 
@@ -195,7 +195,6 @@
 
 # Example configuration for intersphinx: refer to the Python standard library.
 intersphinx_mapping = {
-    'http://docs.python.org/': None,
-    'http://docs.scipy.org/doc/numpy' : None,
-    'http://www.ros.org/doc/api/tf/html/python/' : None
-    }
+    'python': ('http://docs.python.org/', None),
+    'numpy': ('http://docs.scipy.org/doc/numpy', None)
+}
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diff --git a/camera_calibration/doc/index.rst b/camera_calibration/doc/index.rst
index 741e4e5b7..247d0dd9b 100644
--- a/camera_calibration/doc/index.rst
+++ b/camera_calibration/doc/index.rst
@@ -1,18 +1,138 @@
-camera_calibration
-==================
+Overview
+========
 
-The camera_calibration package contains a user-friendly calibration tool,
-cameracalibrator.  This tool uses the following Python classes, which
-conveniently hide some of the complexities of using OpenCV's calibration
-process and chessboard detection, and the details of constructing a ROS
-CameraInfo message.  These classes are documented here for people who
-need to extend or make a new calibration tool.
+This package uses OpenCV camera calibration, described
+`here <https://docs.opencv.org/4.5.4/d9/d0c/group__calib3d.html>`_.
+For detailed information on the parameters produced by the calibration, see this
+`description <http://docs.ros.org/en/rolling/p/image_pipeline/camera_info.html>`_.
 
-For details on the camera model and camera calibration process, see
-http://docs.opencv.org/master/d9/d0c/group__calib3d.html
+The code API listed for this package is for convenience only.
+This package has no supported code API.
 
-.. autoclass:: camera_calibration.calibrator.MonoCalibrator
-    :members:
+For pinhole type cameras this package names the distortion model as **plumb_bob**
+or **rational_polynomial**, depending on number of parameters used. For fisheye
+type cameras this package uses the **equidistant** distortion model.
 
-.. autoclass:: camera_calibration.calibrator.StereoCalibrator
-    :members:
+Tutorials
+---------
+There are tutorials on how to run the calibration tool for monocular and
+stereo cameras.
+
+Camera Calibrator Usage
+-----------------------
+To run the ``cameracalibrator`` node for a monocular camera using an 8x6
+chessboard with 108mm squares:
+
+.. code-block:: bash
+
+   ros2 run camera_calibration cameracalibrator --size 8x6 --square 0.108 image:=/my_camera/image camera:=/my_camera
+
+When you click on the **Save** button after a succesfull calibration,
+the data (calibration data and images used for calibration) will
+be written to ``/tmp/calibrationdata.tar.gz``.
+
+To run the ``cameracalibrator`` node for a stereo camera:
+
+.. code-block:: bash
+
+    ros2 run camera_calibration cameracalibrator --size 8x6 --square 0.108 right:=/my_stereo/right/image_raw left:=/my_stereo/left/image_raw left_camera:=/my_stereo/left right_camera:=/my_stereo/right
+
+
+``cameracalibrator`` supports the following options:
+
+  Chessboard Options:
+    You must specify one or more chessboards as pairs of --size and
+    --square options.
+
+    -p PATTERN, --pattern=PATTERN
+                        calibration pattern to detect - 'chessboard',
+                        'circles', 'acircles'
+    -s SIZE, --size=SIZE
+                        chessboard size as NxM, counting interior corners
+                        (e.g. a standard chessboard is 7x7)
+    -q SQUARE, --square=SQUARE
+                        chessboard square size in meters
+
+  ROS Communication Options:
+    --approximate=APPROXIMATE
+                        allow specified slop (in seconds) when pairing images
+                        from unsynchronized stereo cameras
+    --no-service-check  disable check for set_camera_info services at startup
+    --queue-size=QUEUE_SIZE
+                        image queue size (default 1, set to 0 for unlimited)
+
+  Calibration Optimizer Options:
+    --fix-principal-point
+                        for pinhole, fix the principal point at the image
+                        center
+    --fix-aspect-ratio  for pinhole, enforce focal lengths (fx, fy) are equal
+    --zero-tangent-dist
+                        for pinhole, set tangential distortion coefficients
+                        (p1, p2) to zero
+    -k NUM_COEFFS, --k-coefficients=NUM_COEFFS
+                        for pinhole, number of radial distortion coefficients
+                        to use (up to 6, default 2)
+    --fisheye-recompute-extrinsicsts
+                        for fisheye, extrinsic will be recomputed after each
+                        iteration of intrinsic optimization
+    --fisheye-fix-skew  for fisheye, skew coefficient (alpha) is set to zero
+                        and stay zero
+    --fisheye-fix-principal-point
+                        for fisheye,fix the principal point at the image
+                        center
+    --fisheye-k-coefficients=NUM_COEFFS
+                        for fisheye, number of radial distortion coefficients
+                        to use fixing to zero the rest (up to 4, default 4)
+    --fisheye-check-conditions
+                        for fisheye, the functions will check validity of
+                        condition number
+    --disable_calib_cb_fast_check
+                        uses the CALIB_CB_FAST_CHECK flag for
+                        findChessboardCorners
+    --max-chessboard-speed=MAX_CHESSBOARD_SPEED
+                        Do not use samples where the calibration pattern is
+                        moving faster                      than this speed in
+                        px/frame. Set to eg. 0.5 for rolling shutter cameras.
+
+Unsynchronized Stereo
+---------------------
+By default, the ``image_pipeline`` assumes that stereo cameras are triggered
+to capture images simultaneously, and that matching image pairs have identical
+timestamps. This is the ideal situation, but requires hardware support.
+
+If your stereo pairs are not (or inexactly) synchronized, enable approximate
+timestamp matching ``--approximate=0.01`` option. This permits a "slop" of
+0.01s between image pairs. If you still don't see a display window, or it
+is sporadically updated, try increasing the slop.
+
+Dual Checkerboards
+------------------
+It is possible to use multiple size checkerboards to calibrate a camera.
+
+To use multiple checkerboards, give multiple ``--size`` and ``--square``
+options for additional boards. Make sure the boards have different
+dimensions, so the calibration system can tell them apart.
+
+Camera Check
+------------
+To run the command-line utility to check the calibration of a monocular camera:
+
+.. code-block:: bash
+
+    ros2 run camera_calibration cameracheck --size 8x6 monocular:=/forearm image:=image_rect
+
+To run the command-line utility to check the calibration of a stereo camera:
+
+.. code-block:: bash
+
+    ros2 run camera_calibration cameracheck --size 8x6 stereo:=/wide_stereo image:=image_rect
+
+.. toctree::
+   :maxdepth: 2
+
+   self
+   components
+   tutorial_mono
+   tutorial_stereo
+   api
+   changes
diff --git a/camera_calibration/doc/tutorial_mono.rst b/camera_calibration/doc/tutorial_mono.rst
new file mode 100644
index 000000000..5e3fbef99
--- /dev/null
+++ b/camera_calibration/doc/tutorial_mono.rst
@@ -0,0 +1,182 @@
+Tutorial: Monocular Calibration
+===============================
+
+This tutorial cover using the ``cameracalibrator`` node to calibrate
+a monocular camera with a raw image over ROS 2.
+
+Before Starting
+---------------
+Make sure that you have the following:
+
+ * A large checkerboard with known dimensions. This tutorial uses a 8x6
+   checkerboard with 108mm squares. Calibration uses the interior vertex
+   points of the checkerboard, so an "9x7" board uses the interior vertex
+   parameter "8x6" as in the example below.
+ * A well lit 5m x 5m area clear of obstructions and check board patterns
+   a monocular camera publishing images over ROS.
+ * Install ROS 2 and the ``camera_calibration`` package.
+
+Finally make sure your camera is publishing images. For instance:
+
+.. code-block:: bash
+
+    $ ros2 topic list | grep camera
+
+    /camera/camera_info
+    /camera/image_raw
+
+If you have multiple cameras or are running the driver in its own
+namespace, your topic names may differ.
+
+Running the Calibration Node
+----------------------------
+To start the calibration you will need to load the image topics that
+will be calibrated:
+
+.. code-block:: bash
+
+    ros2 run camera_calibration cameracalibrator --size 8x6 --square 0.108 image:=/camera/image_raw camera:=/camera
+
+This will open up the calibration window which will highlight the checkerboard:
+
+.. figure:: images/mono_0.png
+   :width: 90%
+   :align: center
+
+If it does not open up the window try the following parameter:
+
+.. code-block:: bash
+
+    --no-service-check
+
+If you can't see any colored dots make sure you count the interior vertex points,
+not the squares!
+
+Dual Checkerboards
+------------------
+To use multiple checkerboards, give multiple ``--size`` and ``--square`` options
+for additional boards. Make sure the boards have different dimensions, so the
+calibration system can tell them apart.
+
+Moving the Checkerboard
+-----------------------
+In order to get a good calibration you will need to move the checkerboard around
+in the camera frame such that:
+
+ * checkerboard on the camera's left, right, top and bottom of field of view
+
+   * X bar - left/right in field of view
+   * Y bar - top/bottom in field of view
+   * Size bar - toward/away and tilt from the camera
+ * checkerboard filling the whole field of view
+ * checkerboard tilted to the left, right, top and bottom (Skew)
+
+At each step, hold the checkerboard still until the image is highlighted in the
+calibration window.
+
+|cal0007| |cal0009| |cal0011|
+
+|cal0006| |cal0008| |cal0012|
+
+.. |cal0007| image:: images/cal0007.png
+   :width: 32%
+
+.. |cal0009| image:: images/cal0009.png
+   :width: 32%
+
+.. |cal0011| image:: images/cal0011.png
+   :width: 32%
+
+.. |cal0006| image:: images/cal0006.png
+   :width: 32%
+
+.. |cal0008| image:: images/cal0008.png
+   :width: 32%
+
+.. |cal0012| image:: images/cal0012.png
+   :width: 32%
+
+As you move the checkerboard around you will see three bars on the calibration
+sidebar increase in length. When the **CALIBRATE** button lights, you have enough
+data for calibration and can click **CALIBRATE** to see the results.
+
+Calibration can take about a minute. The windows might be greyed out but just
+wait, it is working.
+
+.. figure:: images/mono_1.png
+   :width: 90%
+   :align: center
+
+Calibration Results
+-------------------
+After the calibration is complete you will see the calibration results in the
+terminal and the calibrated image in the calibration window:
+
+.. figure:: images/mono_2.png
+   :width: 90%
+   :align: center
+
+A successful calibration will result in real-world straight edges appearing
+straight in the corrected image.
+
+A failed calibration usually results in blank or unrecognizable images, or
+images that do not preserve straight edges.
+
+After a successful calibration, you can use the slider at the top of the
+calibration window to change the size of the rectified image. A scale of
+0.0 means that the image is sized so that all pixels in the rectified image
+are valid. The rectified image has no border, but some pixels from the
+original image are discarded. A scale of 1.0 means that all pixels in the
+original image are visible, but the rectified image has black borders where
+there are no input pixels in the original image.
+
+.. code-block:: bash
+
+    D =  [-0.33758562758914146, 0.11161239414304096, -0.00021819272592442094, -3.029195446330518e-05]
+    K =  [430.21554970319971, 0.0, 306.6913434743704, 0.0, 430.53169252696676, 227.22480030078816, 0.0, 0.0, 1.0]
+    R =  [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
+    P =  [1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0]
+    # oST version 5.0 parameters
+
+    [image]
+
+    width
+    640
+
+    height
+    480
+
+    [narrow_stereo/left]
+
+    camera matrix
+    430.215550 0.000000 306.691343
+    0.000000 430.531693 227.224800
+    0.000000 0.000000 1.000000
+
+    distortion
+    -0.337586 0.111612 -0.000218 -0.000030 0.0000
+
+    rectification
+    1.000000 0.000000 0.000000
+    0.000000 1.000000 0.000000
+    0.000000 0.000000 1.000000
+
+    projection
+    1.000000 0.000000 0.000000 0.000000
+    0.000000 1.000000 0.000000 0.000000
+    0.000000 0.000000 1.000000 0.000000
+
+If you are satisfied with the calibration, click **COMMIT** to send the
+calibration parameters to the camera for permanent storage. The GUI
+exits and you should see "writing calibration data to ..." in the console.
+
+Creating a YAML File
+--------------------
+The Camera Calibration Parser helps you to create a yml file, which you
+can load with nearly all ros camera driver using the *camera_info_url*
+parameter.
+
+Rectifying an image
+-------------------
+Simply loading a calibration file does not rectify the image. For
+rectification, use the ``image_proc`` package.
diff --git a/camera_calibration/doc/tutorial_stereo.rst b/camera_calibration/doc/tutorial_stereo.rst
new file mode 100644
index 000000000..b5d59a8ba
--- /dev/null
+++ b/camera_calibration/doc/tutorial_stereo.rst
@@ -0,0 +1,250 @@
+Tutorial: Stereo Calibration
+============================
+
+This tutorial cover using the ``cameracalibrator`` node to calibrate
+a stereo camera with a left and right image over ROS 2.
+
+Before Starting
+---------------
+Make sure that you have the following:
+
+ * A large checkerboard (8x6) or checkerboard (7x6) with known dimensions.
+   This tutorial uses a 8x6 checkerboard with 108mm squares.
+ * A well lit 5m x 5m area clear of obstructions and check board patterns
+   a stereo camera publishing left and right images over ROS (if you want
+   to use two independent cameras as a stereo camera, you must make sure
+   the images have identical time stamps).
+ * Install ROS 2 and the ``camera_calibration`` package.
+
+**NOTE**: Checkerboard size refers to the number of internal corner, as
+described in the OpenCV documentation (i.e. the 8x6 checkerboard contains
+9x7 squares)
+
+Finally make sure your camera is publishing images. For instance:
+
+.. code-block:: bash
+
+    $ ros2 topic list | grep stereo
+
+    /stereo/left/camera_info
+    /stereo/left/image_raw
+    /stereo/right/camera_info
+    /stereo/right/image_raw
+
+If you have multiple cameras or are running the driver in its own
+namespace, your topic names may differ.
+
+Start the Calibration
+---------------------
+To start the calibration you will need to load the image topics
+that will be calibrated:
+
+.. code-block:: bash
+
+    $ ros2 run camera_calibration cameracalibrator --approximate 0.1 --size 8x6 --square 0.108 right:=/stereo/right/image_raw left:=/my_stereo/left/image_raw right_camera:=/my_stereo/right left_camera:=/my_stereo/left
+
+The ``--approximate`` option allows the camera calibrator to work
+with images that do not have the exact same timestamp. Currently
+it is set to 0.1 seconds. In this case, as long as the timestamp
+difference is less than 0.1 seconds, the calibrator will run with
+no problem.
+
+This will open up the calibration window which will highlight the
+checkerboard, you will not see any images in the calibration
+window until a checkerboard is present:
+
+.. figure:: images/stereo_0.png
+   :width: 90%
+   :align: center
+
+Dual Checkerboards
+------------------
+
+To use multiple checkerboards, give multiple ``--size`` and
+```--square`` options for additional boards. Make sure the boards
+have different dimensions, so the calibration system can tell
+them apart.
+
+Holding the Checkerboard
+------------------------
+Make sure that you hold the checkerboard horizontally (more
+checkers horizontally than vertically).
+
+.. figure:: images/check-108.png
+   :width: 90%
+   :align: center
+
+Moving the Checkerboard
+-----------------------
+In order to get a good calibration you will need to move the
+checkerboard around in the camera frame such that:
+
+ * The checkerboard is detected at the left and right edges
+   of the field of view (X calibration).
+ * The checkerboard is detected at the top and bottom edges
+   of the field of view (Y calibration).
+ * The checkerboard is detected at various angles to the
+   camera ("Skew").
+ * The checkerboard fills the entire field of view
+   (Size calibration).
+ * checkerboard tilted to the left, right, top and bottom
+   (X,Y, and Size calibration).
+
+
+|cal0007| |cal0009| |cal0011|
+
+|cal0006| |cal0008| |cal0012|
+
+.. |cal0007| image:: images/cal0007.png
+   :width: 32%
+
+.. |cal0009| image:: images/cal0009.png
+   :width: 32%
+
+.. |cal0011| image:: images/cal0011.png
+   :width: 32%
+
+.. |cal0006| image:: images/cal0006.png
+   :width: 32%
+
+.. |cal0008| image:: images/cal0008.png
+   :width: 32%
+
+.. |cal0012| image:: images/cal0012.png
+   :width: 32%
+
+As you move the checkerboard around you will see three bars on the
+calibration sidebar increase in length. When the **CALIBRATE** button
+lights, you have enough data for calibration and can click **CALIBRATE**
+to see the results.
+
+.. figure:: images/stereo_1.png
+   :width: 90%
+   :align: center
+
+Calibration Results
+-------------------
+After the calibration is complete you will see the calibration results
+in the terminal and the calibrated image in the calibration window:
+
+.. figure:: images/stereo_2.png
+   :width: 90%
+   :align: center
+
+The sidebar will show the measured accuracy and dimensions of the
+checkerboard square, in the above case the checkerboard square was
+111mm with an accuracy of 0.31 pixels.
+
+A successful calibration will result in real-world straight edges
+appearing straight in the corrected image.
+
+A failed calibration usually results in blank or unrecognizable images,
+or images that do not preserve straight edges.
+
+Typically, an epipolar error below 0.25 pixel is considered acceptable,
+and below 0.1 excellent.
+
+You can also use the slider at the top of the calibration window to
+change the size of the rectified image, as shown below. A scale of 0.0
+means that the image is sized so that all pixels in the rectified image
+are valid. The rectified image has no border, but some pixels from the
+original image are discarded. A scale of 1.0 means that all pixels in
+the original image are visible, but the rectified image has black
+borders where there are no input pixels in the original image.
+
+The recommended value for the slider is 0.0.
+
+.. figure:: images/stereo_3.png
+   :width: 90%
+   :align: center
+
+.. figure:: images/stereo_4.png
+   :width: 90%
+   :align: center
+
+For more details on the stereo camera model - including interpretation
+of these results - see
+`OpenCV <https://docs.opencv.org/4.5.4/d9/d0c/group__calib3d.html>`_
+and image_geometry.
+
+.. code-block:: bash
+
+    Left:
+    D =  [-0.31420196940339423, 0.091934927292188981, 0.0012952332628749881, -0.0016196264582460102]
+    K =  [425.19601412158482, 0.0, 308.29689772295882, 0.0, 426.02702697756899, 223.53789948448997, 0.0, 0.0, 1.0]
+    R =  [0.99783514664821127, 0.013543024537547797, 0.064355315242164368, -0.013644479706482148, 0.99990626305523833, 0.0011372231303031885, -0.064333881330776027, -0.0020128560018237928, 0.99792640015365552]
+    P =  [308.02438413775218, 0.0, 270.8484992980957, 0.0, 0.0, 308.02438413775218, 226.91282844543457, 0.0, 0.0, 0.0, 1.0, 0.0]
+
+    Right:
+    D =  [-0.30550530964404188, 0.082701072309439266, 0.001966752019596593, -0.0016409796174513081]
+    K =  [425.18741896821433, 0.0, 323.8787136811938, 0.0, 426.46867413824884, 226.19589833365407, 0.0, 0.0, 1.0]
+    R =  [0.99769116642055589, 0.011418153515469445, 0.066947458627553177, -0.011312576360776634, 0.99993409783500409, -0.0019559148698406695, -0.066965379581335679, 0.0011940507500265176, 0.99775458514623427]
+    P =  [308.02438413775218, 0.0, 270.8484992980957, -28.144333365644293, 0.0, 308.02438413775218, 226.91282844543457, 0.0, 0.0, 0.0, 1.0, 0.0]
+
+    # oST version 5.0 parameters
+
+    [image]
+
+    width
+    640
+
+    height
+    480
+
+    [narrow_stereo/left]
+
+    camera matrix
+    425.196014 0.000000 308.296898
+    0.000000 426.027027 223.537899
+    0.000000 0.000000 1.000000
+
+    distortion
+    -0.314202 0.091935 0.001295 -0.001620 0.0000
+
+    rectification
+    0.997835 0.013543 0.064355
+    -0.013644 0.999906 0.001137
+    -0.064334 -0.002013 0.997926
+
+    projection
+    308.024384 0.000000 270.848499 0.000000
+    0.000000 308.024384 226.912828 0.000000
+    0.000000 0.000000 1.000000 0.000000
+
+    # oST version 5.0 parameters
+
+    [image]
+
+    width
+    640
+
+    height
+    480
+
+    [narrow_stereo/right]
+
+    camera matrix
+    425.187419 0.000000 323.878714
+    0.000000 426.468674 226.195898
+    0.000000 0.000000 1.000000
+
+    distortion
+    -0.305505 0.082701 0.001967 -0.001641 0.0000
+
+    rectification
+    0.997691 0.011418 0.066947
+    -0.011313 0.999934 -0.001956
+    -0.066965 0.001194 0.997755
+
+    projection
+    308.024384 0.000000 270.848499 -28.144333
+    0.000000 308.024384 226.912828 0.000000
+    0.000000 0.000000 1.000000 0.000000
+
+If you are satisfied with the calibration, click **COMMIT** (on the pictures
+above this is button has an old name **UPLOAD**) to send the calibration
+parameters to the camera for permanent storage.
+
+If you want to save the calibration parameters and images used in calibration,
+click **SAVE**. Everything will be made available in the compressed folder
+``/tmp/calibrationdata.tar.gz``.
diff --git a/camera_calibration/package.xml b/camera_calibration/package.xml
index ef1f2a9c9..84c742bc5 100644
--- a/camera_calibration/package.xml
+++ b/camera_calibration/package.xml
@@ -36,5 +36,6 @@
 
   <export>
     <build_type>ament_python</build_type>
+    <rosdoc2>rosdoc2.yaml</rosdoc2>
   </export>
 </package>
diff --git a/camera_calibration/rosdoc.yaml b/camera_calibration/rosdoc.yaml
deleted file mode 100644
index 0136cd7a2..000000000
--- a/camera_calibration/rosdoc.yaml
+++ /dev/null
@@ -1,4 +0,0 @@
- - builder: sphinx
-   name: Python API
-   output_dir: python
-   sphinx_root_dir: doc
diff --git a/camera_calibration/rosdoc2.yaml b/camera_calibration/rosdoc2.yaml
new file mode 100644
index 000000000..6bfd885b1
--- /dev/null
+++ b/camera_calibration/rosdoc2.yaml
@@ -0,0 +1,68 @@
+## Default configuration, generated by rosdoc2.
+
+## This 'attic section' self-documents this file's type and version.
+type: 'rosdoc2 config'
+version: 1
+
+---
+
+settings:
+    ## If this is true, a standard index page is generated in the output directory.
+    ## It uses the package information from the 'package.xml' to show details
+    ## about the package, creates a table of contents for the various builders
+    ## that were run, and may contain links to things like build farm jobs for
+    ## this package or links to other versions of this package.
+
+    ## If false, you can still include content that would have been in the index
+    ## into one of your '.rst' files from your Sphinx project, using the
+    ## '.. include::' directive in Sphinx.
+    ## For example, you could include it in a custom 'index.rst' so you can have
+    ## the standard information followed by custom content.
+
+    ## TODO(wjwwood): provide a concrete example of this (relative path?)
+
+    ## If this is not specified explicitly, it defaults to 'true'.
+    generate_package_index: true
+
+    ## This setting is relevant mostly if the standard Python package layout cannot
+    ## be assumed for 'sphinx-apidoc' invocation. The user can provide the path
+    ## (relative to the 'package.xml' file) where the Python modules defined by this
+    ## package are located.
+    python_source: 'src/camera_calibration'
+
+    ## This setting, if true, attempts to run `doxygen` and the `breathe`/`exhale`
+    ## extensions to `sphinx` regardless of build type. This is most useful if the
+    ## user would like to generate C/C++ API documentation for a package that is not
+    ## of the `ament_cmake/cmake` build type.
+    always_run_doxygen: false
+
+    ## This setting, if true, attempts to run `sphinx-apidoc` regardless of build
+    ## type. This is most useful if the user would like to generate Python API
+    ## documentation for a package that is not of the `ament_python` build type.
+    always_run_sphinx_apidoc: false
+
+    # This setting, if provided, will override the build_type of this package
+    # for documentation purposes only. If not provided, documentation will be
+    # generated assuming the build_type in package.xml.
+    # override_build_type: 'ament_python'
+builders:
+    ## Each stanza represents a separate build step, performed by a specific 'builder'.
+    ## The key of each stanza is the builder to use; this must be one of the
+    ## available builders.
+    ## The value of each stanza is a dictionary of settings for the builder that
+    ## outputs to that directory.
+    ## Required keys in the settings dictionary are:
+    ##  * 'output_dir' - determines output subdirectory for builder instance
+    ##                   relative to --output-directory
+    ##  * 'name' - used when referencing the built docs from the index.
+
+    - doxygen: {
+        name: 'camera_calibration Public C/C++ API',
+        output_dir: 'generated/doxygen'
+    }
+    - sphinx: {
+        name: 'camera_calibration',
+        ## This path is relative to output staging.
+        doxygen_xml_directory: 'generated/doxygen/xml',
+        output_dir: ''
+    }