The use of serial robots for industrial and research purposes is often limited by a flawed positioning accuracy, caused by the differences between the robot nominal model, and the real one. Such an issue can be solved by means of kinematic calibration, which are usually tedious and intricate tasks. In this paper, we propose a complete kinematic calibration procedure relying on established geometric modeling, measurements design and parameters identification methods, as well as multiple integration tools, to provide a high adaptability as well as a simplified handling. The overall process was bundled up in a ROS-based modular and user-friendly kinematic calibration package for serial robots, whose main objective is to offer a smooth and fully integrated framework. Our solution was successfully tested using a motion tracking device, and allowed to increase the overall positioning accuracy of two different serial robots by 75% in a matter of hours.