Extrinsic calibration (ROS)

I have already successfully performed an instrisic calibration on my astra camera but I can’t find the way to achieve an extrinsic calibration.

I tried this tutorial but the program always freezes, it doesn’t matter how long I wait. I have read that the package used in the tutorial is very outdated and nobody is maintaining it.

So, my question is which tool do you usually use to perform an extrinsic calibration? What experience have you had with it? Could you recommend some tutorial?