把去年的二维码检测、图生文客户端、锥桶检测v8给加了进来，二维码检测新增深度相机检测

2026-06-16 21:05:14 +08:00
parent 652c97646e
commit 5535dcab54
34 changed files with 1557 additions and 1 deletions
--- a/src/qr_detection/CMakeLists.txt
+++ b/src/qr_detection/CMakeLists.txt
@@ -0,0 +1,75 @@
+cmake_minimum_required(VERSION 3.5)
+project(qr_detection)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# Find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(dnn_node REQUIRED)
+# find_package(hbm_img_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(ai_msgs REQUIRED)
+find_package(OpenCV REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(ZBar REQUIRED zbar)
+
+# rosidl_generate_interfaces(${PROJECT_NAME}
+#   "msg/SampleMessage.msg"
+# )
+
+# # Define executables
+# add_executable(talker src/publisher_hbmem.cpp)
+# ...
+
+# add_executable(qr_dete_node src/qr_dete.cpp)
+# ...
+
+# install(DIRECTORY
+#   ${PROJECT_SOURCE_DIR}/launch/
+#   DESTINATION share/${PROJECT_NAME}/launch)
+
+# ---- qr_dete_depth_node (sensor_msgs::Image, no hbmem) ----
+add_executable(qr_dete_depth_node src/qr_dete_depth.cpp)
+ament_target_dependencies(qr_dete_depth_node
+  rclcpp
+  std_msgs
+  sensor_msgs
+  geometry_msgs
+)
+
+target_include_directories(qr_dete_depth_node PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+  ${OpenCV_INCLUDE_DIRS} ${ZBar_INCLUDE_DIRS})
+
+target_link_libraries(qr_dete_depth_node
+  ${OpenCV_LIBS} ${ZBar_LIBRARIES}
+)
+
+install(TARGETS qr_dete_depth_node
+  DESTINATION lib/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  set(ament_cmake_copyright_FOUND TRUE)
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
--- a/src/qr_detection/launch/qr_detection.launch.py
+++ b/src/qr_detection/launch/qr_detection.launch.py
@@ -0,0 +1,37 @@
+import os
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.actions import IncludeLaunchDescription
+from launch_ros.actions import Node
+from launch.substitutions import TextSubstitution
+from launch.substitutions import LaunchConfiguration
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from ament_index_python import get_package_share_directory
+
+def generate_launch_description():
+    nv12_codec_node = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(
+                get_package_share_directory('hobot_codec'),
+                'launch/hobot_codec_decode.launch.py')),
+        launch_arguments={
+            # 'codec_channel': '2',
+            'codec_in_mode': 'ros',
+            'codec_out_mode': 'shared_mem',
+            'codec_sub_topic': '/image',
+            'codec_pub_topic': '/hbmem_img'
+        }.items()
+    )
+
+    qr_detection_node = Node(
+        package='qr_detection',
+        executable='qr_dete_node',
+        name='qr_dete_node',
+        output='screen'
+    )
+
+    return LaunchDescription([
+        nv12_codec_node,
+        qr_detection_node
+    ])
--- a/src/qr_detection/msg/SampleMessage.msg
+++ b/src/qr_detection/msg/SampleMessage.msg
@@ -0,0 +1,5 @@
+int32 index
+uint64 time_stamp
+uint8[4194304] data
+
+uint32 MAX_SIZE=4194304
--- a/src/qr_detection/package.xml
+++ b/src/qr_detection/package.xml
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>qr_detection</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="root@todo.todo">root</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>rosidl_default_generators</build_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <depend>rclcpp</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
--- a/src/qr_detection/src/publisher_hbmem.cpp
+++ b/src/qr_detection/src/publisher_hbmem.cpp
@@ -0,0 +1,70 @@
+#include <chrono>
+#include <functional>
+#include <memory>
+#include <string>
+
+#include "rclcpp/rclcpp.hpp"
+#include "qr_detection/msg/sample_message.hpp"
+
+using namespace std::chrono_literals;
+
+class MinimalHbmemPublisher  : public rclcpp::Node {
+ public:
+  MinimalHbmemPublisher () : Node("minimal_hbmem_publisher"), count_(0) {
+    // 创建publisher_hbmem，topic为"topic"
+    publisher_ = this->create_publisher_hbmem<qr_detection::msg::SampleMessage>(
+        "topic", rclcpp::SensorDataQoS());
+
+    // 定时器，每隔40毫秒调用一次timer_callback进行消息发送
+    timer_ = this->create_wall_timer(
+        40ms, std::bind(&MinimalHbmemPublisher::timer_callback, this));
+  }
+
+ private:
+  // 定时器回调函数
+  void timer_callback() {
+    // 获取要发送的消息
+    auto loanedMsg = publisher_->borrow_loaned_message();
+    // 判断消息是否可用，可能出现获取消息失败导致消息不可用的情况
+    if (loanedMsg.is_valid()) {
+      // 引用方式获取实际的消息
+      auto& msg = loanedMsg.get();
+
+      // 获取当前时间，单位为us
+      auto time_now =
+          std::chrono::duration_cast<std::chrono::microseconds>(
+              std::chrono::steady_clock::now().time_since_epoch()).count();
+
+      // 对消息的index和time_stamp进行赋值
+      msg.index = count_;
+      msg.time_stamp = time_now;
+
+      // 打印发送消息
+      RCLCPP_INFO(this->get_logger(), "message: %d", msg.index);
+      publisher_->publish(std::move(loanedMsg));
+      // 注意，发送后，loanedMsg已不可用
+      // 计数器加一
+      count_++;
+    } else {
+      // 获取消息失败，丢弃该消息
+      RCLCPP_INFO(this->get_logger(), "Failed to get LoanMessage!");
+    }
+  }
+
+  // 定时器
+  rclcpp::TimerBase::SharedPtr timer_;
+
+  // hbmem publisher
+  rclcpp::PublisherHbmem<qr_detection::msg::SampleMessage>::SharedPtr publisher_;
+
+  // 计数器
+  size_t count_;
+};
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<MinimalHbmemPublisher>());
+  rclcpp::shutdown();
+  return 0;
+}
--- a/src/qr_detection/src/qr_dete.cpp
+++ b/src/qr_detection/src/qr_dete.cpp
@@ -0,0 +1,290 @@
+#include <memory>
+#include <iostream>
+#include <opencv2/opencv.hpp>
+#include <zbar.h>
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/int32.hpp"
+#include "std_msgs/msg/string.hpp"
+#include "hbm_img_msgs/msg/hbm_msg1080_p.hpp"
+
+class MinimalHbmemSubscriber : public rclcpp::Node
+{
+public:
+  MinimalHbmemSubscriber()
+  : Node("qr_detection"), detect_qr_code_(true)  // 默认不检测二维码
+  {
+    // 创建 subscription_hbmem，topic 为 "hbmem_img"
+    subscription_hbmem_ =
+      this->create_subscription_hbmem<hbm_img_msgs::msg::HbmMsg1080P>(
+        "hbmem_img",
+        10,
+        std::bind(&MinimalHbmemSubscriber::hbmem_callback, this, std::placeholders::_1));
+
+    // 创建订阅器，订阅 'sign4return' 话题
+    subscription_sign_ =
+      this->create_subscription<std_msgs::msg::Int32>(
+        "sign4return",
+        10,
+        std::bind(&MinimalHbmemSubscriber::sign_callback, this, std::placeholders::_1));
+
+    // 创建 publisher，topic 为 "qr_results"
+    publisher_ =
+      this->create_publisher<std_msgs::msg::String>("qr_results", 10);
+  }
+
+private:
+  // 消息回调函数，处理 hbmem_img 话题
+  void hbmem_callback(const hbm_img_msgs::msg::HbmMsg1080P::SharedPtr msg)
+  {
+    if (!detect_qr_code_)
+    {
+      RCLCPP_INFO(this->get_logger(), "QR detection is disabled");
+      return; // 如果标志位为 false，则不进行二维码检测
+    }
+
+    // 创建 Clock 对象并获取当前时间
+    auto clock = std::make_shared<rclcpp::Clock>(RCL_SYSTEM_TIME);
+    auto now = clock->now();
+
+    // 转换消息时间戳为 ROS 时间
+    auto msg_time = rclcpp::Time(msg->time_stamp.sec, msg->time_stamp.nanosec);
+
+    // 计算延时（单位：微秒）
+    auto duration = now - msg_time;
+    auto delay_us = duration.nanoseconds() / 1000; // 转换为微秒
+
+    // 打印延迟
+    RCLCPP_INFO(this->get_logger(), "msg index: %d, time cost %dus", msg->index, delay_us);
+
+    // 获取图像数据并将其转换为 OpenCV 格式
+    cv::Mat image(msg->height, msg->width, CV_8UC1, const_cast<uint8_t*>(msg->data.data()));
+
+    // 初始化 ZBar 扫描器
+    zbar::ImageScanner scanner;
+    scanner.set_config(zbar::ZBAR_NONE, zbar::ZBAR_CFG_ENABLE, 1);
+
+    // 将 OpenCV 图像数据包装成 ZBar 图像
+    zbar::Image zbar_image(image.cols, image.rows, "Y800", image.data, image.cols * image.rows);
+
+    // 扫描图像中的条形码和二维码
+    std::string qr_results;
+    int n = scanner.scan(zbar_image);
+    if (n > 0) {
+      for (auto symbol = zbar_image.symbol_begin(); symbol != zbar_image.symbol_end(); ++symbol) {
+        qr_results += symbol->get_data();
+        RCLCPP_INFO(this->get_logger(), "Decoded %s symbol \"%s\"", symbol->get_type_name().c_str(), symbol->get_data().c_str());
+      }
+    } else {
+      qr_results = "QR Code not detected";
+      RCLCPP_INFO(this->get_logger(), "QR Code not detected");
+    }
+
+    // 发布 QR 结果
+    auto message = std_msgs::msg::String();
+    message.data = qr_results;
+    publisher_->publish(message);
+  }
+
+  // 消息回调函数，处理 sign4return 话题
+  void sign_callback(const std_msgs::msg::Int32::SharedPtr msg)
+  {
+    if (msg->data == 0)
+    {
+      detect_qr_code_ = true; // 启动二维码检测
+      RCLCPP_INFO(this->get_logger(), "QR detection started");
+    }
+    else if (msg->data == 5)
+    {
+      detect_qr_code_ = false; // 停止二维码检测
+      RCLCPP_INFO(this->get_logger(), "QR detection stopped");
+    }
+  }
+
+  // hbmem_img 订阅器
+  rclcpp::SubscriptionHbmem<hbm_img_msgs::msg::HbmMsg1080P>::SharedPtr subscription_hbmem_;
+  // sign4return 订阅器
+  rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr subscription_sign_;
+  // QR code results 发布器
+  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
+
+  // 二维码检测标志位
+  bool detect_qr_code_;
+};
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<MinimalHbmemSubscriber>());
+  rclcpp::shutdown();
+  return 0;
+}
+
+/*
+实现接收和发布
+*/
+//#include <memory>
+//#include <iostream>
+//#include <opencv2/opencv.hpp>
+//#include <zbar.h>
+//#include "rclcpp/rclcpp.hpp"
+//#include "std_msgs/msg/string.hpp"
+//#include "hbm_img_msgs/msg/hbm_msg1080_p.hpp"
+//
+//class MinimalHbmemSubscriber : public rclcpp::Node
+//{
+//public:
+//  MinimalHbmemSubscriber()
+//  : Node("qr_detection")
+//  {
+//    // 创建 subscription_hbmem，topic 为 "hbmem_img"
+//    // 消息回调函数为 topic_callback
+//    subscription_ =
+//      this->create_subscription_hbmem<hbm_img_msgs::msg::HbmMsg1080P>(
+//        "hbmem_img",
+//        10,
+//        std::bind(&MinimalHbmemSubscriber::topic_callback, this, std::placeholders::_1));
+//
+//    // 创建 publisher，topic 为 "qr_results"
+//    publisher_ =
+//      this->create_publisher<std_msgs::msg::String>("qr_results", 10);
+//  }
+//
+//private:
+//  // 消息回调函数
+//  void topic_callback(const hbm_img_msgs::msg::HbmMsg1080P::SharedPtr msg) const
+//  {
+//    // 创建 Clock 对象并获取当前时间
+//    auto clock = std::make_shared<rclcpp::Clock>(RCL_SYSTEM_TIME);
+//    auto now = clock->now();
+//
+//    // 转换消息时间戳为 ROS 时间
+//    auto msg_time = rclcpp::Time(msg->time_stamp.sec, msg->time_stamp.nanosec);
+//
+//    // 计算延时（单位：微秒）
+//    auto duration = now - msg_time;
+//    auto delay_us = duration.nanoseconds() / 1000; // 转换为微秒
+//
+//    // 打印延迟
+//    RCLCPP_INFO(this->get_logger(), "msg index: %d, time cost %dus", msg->index, delay_us);
+//
+//    // 获取图像数据并将其转换为 OpenCV 格式
+//    cv::Mat image(msg->height, msg->width, CV_8UC1, const_cast<uint8_t*>(msg->data.data()));
+//
+//    // 初始化 ZBar 扫描器
+//    zbar::ImageScanner scanner;
+//    scanner.set_config(zbar::ZBAR_NONE, zbar::ZBAR_CFG_ENABLE, 1);
+//
+//    // 将 OpenCV 图像数据包装成 ZBar 图像
+//    zbar::Image zbar_image(image.cols, image.rows, "Y800", image.data, image.cols * image.rows);
+//
+//    // 扫描图像中的条形码和二维码
+//    std::string qr_results;
+//    int n = scanner.scan(zbar_image);
+//    if (n > 0) {
+//      for (auto symbol = zbar_image.symbol_begin(); symbol != zbar_image.symbol_end(); ++symbol) {
+//        qr_results += symbol->get_data() ;
+//        RCLCPP_INFO(this->get_logger(), "Decoded %s symbol \"%s\"", symbol->get_type_name().c_str(), symbol->get_data().c_str());
+//      }
+//    } else {
+//      qr_results = "QR Code not detected";
+//      RCLCPP_INFO(this->get_logger(), "QR Code not detected");
+//    }
+//
+//    // 发布 QR 结果
+//    auto message = std_msgs::msg::String();
+//    message.data = qr_results;
+//    publisher_->publish(message);
+//  }
+//
+//  // hbmem subscription
+//  rclcpp::SubscriptionHbmem<hbm_img_msgs::msg::HbmMsg1080P>::SharedPtr subscription_;
+//  // QR code results publisher
+//  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
+//};
+//
+//int main(int argc, char * argv[])
+//{
+//  rclcpp::init(argc, argv);
+//  rclcpp::spin(std::make_shared<MinimalHbmemSubscriber>());
+//  rclcpp::shutdown();
+//  return 0;
+//}
+
+
+/*
+只实现接收消息，不进行发布
+*/
+
+
+//#include <memory>
+//#include <iostream>
+//#include <opencv2/opencv.hpp>
+//#include <zbar.h>
+//#include "rclcpp/rclcpp.hpp"
+//#include "hbm_img_msgs/msg/hbm_msg1080_p.hpp"
+//
+//class MinimalHbmemSubscriber : public rclcpp::Node
+//{
+//public:
+//  MinimalHbmemSubscriber()
+//  : Node("qr_detection")
+//  {
+//    // 创建 subscription_hbmem，topic 为 "hbmem_img"
+//    // 消息回调函数为 topic_callback
+//    subscription_ =
+//      this->create_subscription_hbmem<hbm_img_msgs::msg::HbmMsg1080P>(
+//        "hbmem_img",
+//        10,
+//        std::bind(&MinimalHbmemSubscriber::topic_callback, this, std::placeholders::_1));
+//  }
+//private:
+//  // 消息回调函数
+//  void topic_callback(
+//    const hbm_img_msgs::msg::HbmMsg1080P::SharedPtr msg) const
+//  {
+//    // 创建 Clock 对象并获取当前时间
+//    auto clock = std::make_shared<rclcpp::Clock>(RCL_SYSTEM_TIME);
+//    auto now = clock->now();
+//
+//    // 转换消息时间戳为 ROS 时间
+//    auto msg_time = rclcpp::Time(msg->time_stamp.sec, msg->time_stamp.nanosec);
+//
+//    // 计算延时（单位：微秒）
+//    auto duration = now - msg_time;
+//    auto delay_us = duration.nanoseconds() / 1000; // 转换为微秒
+//
+//    // 打印延迟
+//    RCLCPP_INFO(this->get_logger(), "msg index: %d, time cost %dus", msg->index, delay_us);
+//
+//    // 获取图像数据并将其转换为 OpenCV 格式
+//    cv::Mat image(msg->height, msg->width, CV_8UC1, const_cast<uint8_t*>(msg->data.data()));
+//
+//    // 初始化 ZBar 扫描器
+//    zbar::ImageScanner scanner;
+//    scanner.set_config(zbar::ZBAR_NONE, zbar::ZBAR_CFG_ENABLE, 1);
+//
+//    // 将 OpenCV 图像数据包装成 ZBar 图像
+//    zbar::Image zbar_image(image.cols, image.rows, "Y800", image.data, image.cols * image.rows);
+//
+//    // 扫描图像中的条形码和二维码
+//    int n = scanner.scan(zbar_image);
+//    if (n > 0) {
+//      for (auto symbol = zbar_image.symbol_begin(); symbol != zbar_image.symbol_end(); ++symbol) {
+//        RCLCPP_INFO(this->get_logger(), "Decoded %s symbol \"%s\"", symbol->get_type_name().c_str(), symbol->get_data().c_str());
+//      }
+//    } else {
+//      RCLCPP_INFO(this->get_logger(), "QR Code not detected");
+//    }
+//  }
+//
+//  // hbmem subscription
+//  rclcpp::SubscriptionHbmem<hbm_img_msgs::msg::HbmMsg1080P>::SharedPtr subscription_;
+//};
+//
+//int main(int argc, char * argv[])
+//{
+//  rclcpp::init(argc, argv);
+//  rclcpp::spin(std::make_shared<MinimalHbmemSubscriber>());
+//  rclcpp::shutdown();
+//  return 0;
+//}
--- a/src/qr_detection/src/qr_dete_depth.cpp
+++ b/src/qr_detection/src/qr_dete_depth.cpp
@@ -0,0 +1,131 @@
+#include <memory>
+#include <iostream>
+#include <opencv2/opencv.hpp>
+#include <zbar.h>
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/int32.hpp"
+#include "std_msgs/msg/string.hpp"
+#include "sensor_msgs/msg/image.hpp"
+
+class MinimalHbmemSubscriber : public rclcpp::Node
+{
+public:
+  MinimalHbmemSubscriber()
+  : Node("qr_detection"), detect_qr_code_(true)  // 默认检测二维码
+  {
+    // 订阅 /aurora/rgb/image_raw（sensor_msgs::msg::Image 格式）
+    subscription_image_ =
+      this->create_subscription<sensor_msgs::msg::Image>(
+        "/aurora/rgb/image_raw",
+        10,
+        std::bind(&MinimalHbmemSubscriber::image_callback, this, std::placeholders::_1));
+
+    // 创建订阅器，订阅 'sign4return' 话题
+    subscription_sign_ =
+      this->create_subscription<std_msgs::msg::Int32>(
+        "sign4return",
+        10,
+        std::bind(&MinimalHbmemSubscriber::sign_callback, this, std::placeholders::_1));
+
+    // 创建 publisher，topic 为 "qr_results"
+    publisher_ =
+      this->create_publisher<std_msgs::msg::String>("qr_results", 10);
+  }
+
+private:
+  // 图像回调函数，处理 /aurora/rgb/image_raw 话题
+  void image_callback(const sensor_msgs::msg::Image::SharedPtr msg)
+  {
+    if (!detect_qr_code_)
+    {
+      RCLCPP_INFO(this->get_logger(), "QR detection is disabled");
+      return;
+    }
+
+    // 创建 Clock 对象并获取当前时间
+    auto clock = std::make_shared<rclcpp::Clock>(RCL_SYSTEM_TIME);
+    auto now = clock->now();
+
+    // 转换消息时间戳为 ROS 时间
+    auto msg_time = rclcpp::Time(msg->header.stamp.sec, msg->header.stamp.nanosec);
+
+    // 计算延时（单位：微秒）
+    auto duration = now - msg_time;
+    auto delay_us = duration.nanoseconds() / 1000; // 转换为微秒
+
+    // 打印延迟
+    RCLCPP_INFO(this->get_logger(), "frame_id: %s, time cost %ldus",
+                msg->header.frame_id.c_str(), delay_us);
+
+    // 将 sensor_msgs::Image 转换为 OpenCV 格式（Aurora RGB 为 bgr8 编码，需转为灰度给 ZBar）
+    if (msg->encoding != "bgr8") {
+      RCLCPP_ERROR(this->get_logger(), "Expected bgr8 encoding, got %s", msg->encoding.c_str());
+      return;
+    }
+    cv::Mat rgb_image(msg->height, msg->width, CV_8UC3,
+                      const_cast<uint8_t*>(msg->data.data()));
+    cv::Mat gray_image;
+    cv::cvtColor(rgb_image, gray_image, cv::COLOR_BGR2GRAY);
+
+    // 初始化 ZBar 扫描器
+    zbar::ImageScanner scanner;
+    scanner.set_config(zbar::ZBAR_NONE, zbar::ZBAR_CFG_ENABLE, 1);
+
+    // 将 OpenCV 图像数据包装成 ZBar 图像
+    zbar::Image zbar_image(gray_image.cols, gray_image.rows, "Y800",
+                           gray_image.data, gray_image.cols * gray_image.rows);
+
+    // 扫描图像中的条形码和二维码
+    std::string qr_results;
+    int n = scanner.scan(zbar_image);
+    if (n > 0) {
+      for (auto symbol = zbar_image.symbol_begin();
+           symbol != zbar_image.symbol_end(); ++symbol) {
+        qr_results += symbol->get_data();
+        RCLCPP_INFO(this->get_logger(), "Decoded %s symbol \"%s\"",
+                    symbol->get_type_name().c_str(), symbol->get_data().c_str());
+      }
+    } else {
+      qr_results = "QR Code not detected";
+      RCLCPP_INFO(this->get_logger(), "QR Code not detected");
+    }
+
+    // 发布 QR 结果
+    auto message = std_msgs::msg::String();
+    message.data = qr_results;
+    publisher_->publish(message);
+  }
+
+  // 消息回调函数，处理 sign4return 话题
+  void sign_callback(const std_msgs::msg::Int32::SharedPtr msg)
+  {
+    if (msg->data == 0)
+    {
+      detect_qr_code_ = true; // 启动二维码检测
+      RCLCPP_INFO(this->get_logger(), "QR detection started");
+    }
+    else if (msg->data == 5)
+    {
+      detect_qr_code_ = false; // 停止二维码检测
+      RCLCPP_INFO(this->get_logger(), "QR detection stopped");
+    }
+  }
+
+  // /aurora/rgb/image_raw 订阅器
+  rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr subscription_image_;
+  // sign4return 订阅器
+  rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr subscription_sign_;
+  // QR code results 发布器
+  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
+
+  // 二维码检测标志位
+  bool detect_qr_code_;
+};
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<MinimalHbmemSubscriber>());
+  rclcpp::shutdown();
+  return 0;
+}
--- a/src/qr_detection/src/qr_detection_node.cpp
+++ b/src/qr_detection/src/qr_detection_node.cpp
@@ -0,0 +1,50 @@
+#include <memory>
+#include "rclcpp/rclcpp.hpp"
+#include "hbm_img_msgs/msg/hbm_msg1080_p.hpp"
+
+class MinimalHbmemSubscriber : public rclcpp::Node
+{
+public:
+  MinimalHbmemSubscriber()
+  : Node("qr_detection")
+  {
+    // 创建 subscription_hbmem，topic 为 "hbmem_img"
+    // 消息回调函数为 topic_callback
+    subscription_ =
+      this->create_subscription_hbmem<hbm_img_msgs::msg::HbmMsg1080P>(
+        "hbmem_img",
+        10,
+        std::bind(&MinimalHbmemSubscriber::topic_callback, this, std::placeholders::_1));
+  }
+
+private:
+  // 消息回调函数
+  void topic_callback(
+    const hbm_img_msgs::msg::HbmMsg1080P::SharedPtr msg) const
+  {
+    // 创建 Clock 对象并获取当前时间
+    auto clock = std::make_shared<rclcpp::Clock>(RCL_SYSTEM_TIME);
+    auto now = clock->now();
+
+    // 转换消息时间戳为 ROS 时间
+    auto msg_time = rclcpp::Time(msg->time_stamp.sec, msg->time_stamp.nanosec);
+
+    // 计算延时（单位：微秒）
+    auto duration = now - msg_time;
+    auto delay_us = duration.nanoseconds() / 1000; // 转换为微秒
+
+    // 打印延迟
+    RCLCPP_INFO(this->get_logger(), "msg index: %d, time cost %dus", msg->index, delay_us);
+  }
+
+  // hbmem subscription
+  rclcpp::SubscriptionHbmem<hbm_img_msgs::msg::HbmMsg1080P>::SharedPtr subscription_;
+};
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<MinimalHbmemSubscriber>());
+  rclcpp::shutdown();
+  return 0;
+}
--- a/src/qr_detection/src/sameple_zbar.cpp
+++ b/src/qr_detection/src/sameple_zbar.cpp
@@ -0,0 +1,36 @@
+#include <iostream>
+#include <zbar.h>
+#include <opencv2/opencv.hpp>
+
+int main(int argc, char* argv[]) {
+    if (argc != 2) {
+        std::cerr << "Usage: " << argv[0] << " <image_path>" << std::endl;
+        return -1;
+    }
+
+    std::string image_path = argv[1];
+    cv::Mat image = cv::imread(image_path, cv::IMREAD_GRAYSCALE);
+    if (image.empty()) {
+        std::cerr << "Could not open or find the image: " << image_path << std::endl;
+        return -1;
+    }
+
+    // Initialize ZBar scanner
+    zbar::ImageScanner scanner;
+    scanner.set_config(zbar::ZBAR_NONE, zbar::ZBAR_CFG_ENABLE, 1);
+
+    // Wrap OpenCV image data in a ZBar image
+    zbar::Image zbar_image(image.cols, image.rows, "Y800", image.data, image.cols * image.rows);
+
+    // Scan the image for barcodes and QR codes
+    int n = scanner.scan(zbar_image);
+    if (n > 0) {
+        for (auto symbol = zbar_image.symbol_begin(); symbol != zbar_image.symbol_end(); ++symbol) {
+            std::cout << "Decoded " << symbol->get_type_name() << " symbol \"" << symbol->get_data() << '"' << std::endl;
+        }
+    } else {
+        std::cout << "QR Code not detected" << std::endl;
+    }
+
+    return 0;
+}
--- a/src/qr_detection/src/subscriber_hbmem.cpp
+++ b/src/qr_detection/src/subscriber_hbmem.cpp
@@ -0,0 +1,45 @@
+#include <memory>
+
+#include "rclcpp/rclcpp.hpp"
+#include "qr_detection/msg/sample_message.hpp"
+
+class MinimalHbmemSubscriber  : public rclcpp::Node {
+ public:
+  MinimalHbmemSubscriber () : Node("minimal_hbmem_subscriber") {
+    // 创建subscription_hbmem，topic为"sample"
+    // 消息回调函数为topic_callback
+    subscription_ =
+        this->create_subscription_hbmem<qr_detection::msg::SampleMessage>(
+            "topic", rclcpp::SensorDataQoS(),
+            std::bind(&MinimalHbmemSubscriber ::topic_callback, this,
+                      std::placeholders::_1));
+  }
+
+ private:
+  // 消息回调函数
+  void topic_callback(
+      const qr_detection::msg::SampleMessage::SharedPtr msg) const {
+    // 注意，msg只能在回调函数中使用，回调函数返回后，该消息就会被释放
+    // 获取当前时间
+    auto time_now =
+        std::chrono::duration_cast<std::chrono::microseconds>(
+            std::chrono::steady_clock::now().time_since_epoch())
+            .count();
+    // 计算延时并打印出来
+    RCLCPP_INFO(this->get_logger(), "msg %d, time cost %dus", msg->index,
+                time_now - msg->time_stamp);
+  }
+
+  // hbmem subscription
+  rclcpp::SubscriptionHbmem<qr_detection::msg::SampleMessage>::SharedPtr
+      subscription_;
+};
+
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<MinimalHbmemSubscriber>());
+  rclcpp::shutdown();
+  return 0;
+}