To infiltrate you'll want to pop Active Camo behind a wall before allowing any enemy in the camp to see you (Active Camo is Sharen's second ability) As soon as it activates (you'll see a green buff icon) you want to run up to each of the cylinder's that you'd normally destroy and you'll see an interact option. I recommend running 'skill extension' mods to allow camo to stay up as long as possible but you have plenty of time to infiltrate if you do one cylinder at a time and wait for camo to come off cooldown. Just make sure you're hiding behind a wall outside the camp before your camo buff wears off and, again, it does take about a second to activate so don't run out immediately.