ROS client for Roboception's SilhouetteMatch module

This node provides ROS services and parameters for Roboception's SilhouetteMatch node. For a detailed description of the SilhouetteMatch module, check the rc_visard manual:


On Debian/Ubuntu add the ROS sources and

sudo apt-get install ros-${ROS_DISTRO}-rc-silhouettematch-client

From Source

This package relies on git submodules for the cpr library which need to be initialized before building from source.

git submodule update --init --recursive



  • device: The ID of the device, i.e. Roboception rc_visard sensor. This can be either:
    • serial number, e.g. 02912345. IMPORTANT: preceed with a colon (:02912345) when passing this on the command line or setting it via rosparam (see This is not neccessary when specifying it as a string in a launch file.
    • user defined name (factory default is the name of the rc_visard's model), must be unique among all reachable sensors.
  • 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>

Author(s): Elena Gambaro
autogenerated on Sat Nov 21 2020 03:29:23