diff --git a/camera_calibration/doc/tutorial_stereo.rst b/camera_calibration/doc/tutorial_stereo.rst
index b5d59a8ba..03788522a 100644
--- a/camera_calibration/doc/tutorial_stereo.rst
+++ b/camera_calibration/doc/tutorial_stereo.rst
@@ -34,14 +34,23 @@ Finally make sure your camera is publishing images. For instance:
 If you have multiple cameras or are running the driver in its own
 namespace, your topic names may differ.
 
+Most cameras will also support a `set_camera_info` service:
+
+.. code-block:: bash
+
+    $ ros2 service list | grep stereo
+
+    /stereo/left/set_camera_info
+    /stereo/right/set_camera_info
+
 Start the Calibration
 ---------------------
-To start the calibration you will need to load the image topics
+To start the calibration you will need to remap 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
+    $ ros2 run camera_calibration cameracalibrator --approximate 0.1 --size 8x6 --square 0.108 right:=/stereo/right/image_raw left:=/stereo/left/image_raw right_camera:=/stereo/right left_camera:=/stereo/left
 
 The ``--approximate`` option allows the camera calibrator to work
 with images that do not have the exact same timestamp. Currently
@@ -49,6 +58,10 @@ 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.
 
+The `left` and `right` namespaces are used to remap the `image_raw`
+and `camera_info` topics, while the `left_camera` and `right_camera`
+namespaces are used for the optional `set_camera_info` service.
+
 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: