ROS client for Roboception’s SilhouetteMatch module

This package is not developed anymore. A new client is available in the rc_reason_clients_ros repository.

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

Installation

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

Configuration

Parameters

• 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 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 (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.

Services

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.

Launching

Using command line parameters:

rosrun rc_silhouettematch_client rc_silhouettematch_client _device:=:<serial_number>

Changelog for package rc_silhouettematch_client

3.3.3 (2022-03-03)

3.3.2 (2022-02-18)

3.3.1 (2022-02-18)

3.3.0 (2022-02-08)

• remove ROI services

3.2.4 (2021-11-15)

3.2.3 (2021-08-03)

3.2.2 (2021-08-02)

3.2.1 (2021-02-11)

3.2.0 (2021-01-28)

• update cmake files for better version handling

3.1.0 (2020-11-17)

3.0.5 (2020-10-20)

3.0.4 (2020-09-23)

3.0.3 (2020-09-22)

3.0.2 (2020-07-28)

3.0.1 (2020-05-14)

• add missing msg dependencies

3.0.0 (2020-05-13)

• refactoring and cleanup
• set parameters on parameter server so that dynamic reconfigure picks them up
• enum for dynamic reconfigure quality params
• service calls always return true, but set return_code in case of error
• visualize base plane as disk
• add plane_preference
• initial implementation of SilhouetteMatch client
• Contributors: Elena Gambaro, Felix Ruess, schaller