From a9bfeef59bf8cda8b219c9b7a436f2ed21ca011b Mon Sep 17 00:00:00 2001
From: Orange <2314753575@qq.com>
Date: Tue, 16 Jun 2026 22:08:53 +0800
Subject: [PATCH] =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E4=BA=8C=E7=BB=B4=E7=A0=81?=
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---
 README.md                              |  2 ++
 src/qr_detection/src/qr_dete_depth.cpp | 13 ++++++++++++-
 2 files changed, 14 insertions(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 4cf7969..039630c 100644
--- a/README.md
+++ b/README.md
@@ -102,4 +102,6 @@ foxglove # 启动foxbridge
 启动键盘控制：
 `ros2 run teleop_twist_keyboard teleop_twist_keyboard `
 
+运行二维码检测（无缓存版）：
+`ros2 run qr_detection qr_dete_depth_node --ros-args -p use_buffer:=false`
 # 五、日志
diff --git a/src/qr_detection/src/qr_dete_depth.cpp b/src/qr_detection/src/qr_dete_depth.cpp
index d3c9efc..364ec40 100644
--- a/src/qr_detection/src/qr_dete_depth.cpp
+++ b/src/qr_detection/src/qr_dete_depth.cpp
@@ -13,6 +13,7 @@ public:
   MinimalHbmemSubscriber()
   : Node("qr_detection"), detect_qr_code_(true)  // 默认检测二维码
   {
+    use_buffer = this->declare_parameter("use_buffer", true); // 声明参数，默认使用缓存
     // 订阅 /aurora/rgb/image_raw（sensor_msgs::msg::Image 格式）
     subscription_image_ =
       this->create_subscription<sensor_msgs::msg::Image>(
@@ -85,6 +86,7 @@ private:
         RCLCPP_INFO(this->get_logger(), "Decoded %s symbol \"%s\"",
                     symbol->get_type_name().c_str(), symbol->get_data().c_str());
       }
+      qr_results_buff_ = qr_results; // 更新缓存
     } else {
       qr_results = "QR Code not detected";
       RCLCPP_INFO(this->get_logger(), "QR Code not detected");
@@ -92,7 +94,12 @@ private:
 
     // 发布 QR 结果
     auto message = std_msgs::msg::String();
-    message.data = qr_results;
+    if (use_buffer){
+      message.data = qr_results_buff_;
+    } 
+    else{
+      message.data = qr_results;
+    }
     publisher_->publish(message);
   }
 
@@ -118,8 +125,12 @@ private:
   // QR code results 发布器
   rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
 
+  // 参数
+  bool use_buffer;
   // 二维码检测标志位
   bool detect_qr_code_;
+  // 二维码检测结果缓存
+  std::string qr_results_buff_;
 };
 
 int main(int argc, char * argv[])