See and for more details.

This package is not developed anymore. A new clients is available in the rc_reason_clients package.


The SilhouetteMatch component is an optional on-board component of the rc_visard, which detects objects by matching a predefined silhouette (“template”) to edges in an image.

For detail description check the following link:



  • device: The ID of the device, i.e. Roboception rc_visard sensor. This can be either:

    • serial number, e.g. 02912345.

    Preceed with a colon (:02912345) when passing this on the commandline or setting it via rosparam (see This is not neccessary when specifying it as a string in a launch file.

    • user defined name must be unique among all reachable sensors.
    If no device or host is given, this parameter works if just one rc_visard is connected.
  • host: If device is not used. The IP address or hostname of the rc_visard.

Dynamic reconfigure parameters

  • max_number_of_detected_objects: Maximum number of detected objects.

  • edge_sensitivity: Sensitivity of the edge detector.

  • match_max_distance: Maximum allowed distance in pixels between the template and the detected edges in the image.

  • match_percentile: Percentage of template pixels that must be within the maximum distance to successfully match the template.

  • quality: Detection quality (H(igh), M(edium), or L(ow)).

  • publish_vis: Whether TF and markers should be published.


The following services are offered by the node:

  • detect_object: Triggers detection of an object.

  • calibrate_base_plane: Triggers base-plane calibration.

  • get_base_plane_calibration: Returns the configured base-plane calibration.

  • delete_base_plane_calibration: Deletes the configured base-plane calibration.


Using command line parameters:

  • rosrun rc_silhouettematch_client rc_silhouettematch_client _device:=:<serial_number>

Report a Bug

Use GitHub to report bugs or submit feature requests. [View active issues]



Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information:

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This project has received funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement No. 732287.

Wiki: rc_silhouettematch_client (last edited 2022-05-25 08:49:29 by FelixRuess)