rc_visard: rc_hand_eye_calibration_client | rc_pick_client | rc_roi_manager_gui | rc_silhouettematch_client | rc_tagdetect_client | rc_visard_description | rc_visard_driver

Package Summary

The ros client for roboception silhouette match module

See http://rc-visard.com and http://doc.rc-visard.com for more details.

This package is still in development and the API might change in the future. Please report any bugs or feature requests on GitHub.


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: https://doc.rc-visard.com/latest/en/silhouettematch.html



  • 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 https://github.com/ros/ros_comm/issues/1339). 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.

  • set_region_of_interest: Sets a region of interest.

  • get_regions_of_interest: Returns the configured regions of interest with the requested ids.

    • If no ids are provided, all configured regions of interest are returned.
  • delete_regions_of_interest: Deletes the configured regions of interest with the requested ids.


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: rosin-project.eu

EU Flag

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 2020-05-20 16:10:16 by FelixRuess)