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Changes to be committed:
	modified:   src/my_robot_bringup/launch/master_launch.py
	deleted:    src/obs.zip
	modified:   src/vlm_detect/launch/vlm_detect.launch.py

src/my_robot_bringup/launch/master_launch.py

@@ -104,9 +104,9 @@ def generate_launch_description():
     )
 
     # ================================================================
-    # 阶段 3: TTS 语音播报服务 + 二维码播报桥接  (t=3s)
+    # 阶段 3: TTS 语音播报服务  (t=3s)
     # tts_server: Piper 离线 TTS + espeak 降级，提供 /tts/speak 服务
-    # qr_tts_bridge: 订阅 qr_results，调用 /tts/speak
+    # qr_detect / vlm_node 直接调用 /tts/speak
     # ================================================================
     tts_server = Node(
         package='vlm_detect',
@@ -120,18 +120,10 @@ def generate_launch_description():
         }],
     )
 
-    qr_tts_bridge = Node(
-        package='vlm_detect',
-        executable='qr_tts_bridge',
-        name='qr_tts_bridge',
-        output='screen',
-        condition=IfCondition(use_tts),
-    )
-
     # ================================================================
     # 阶段 4: USB 摄像头 + 二维码识别  (t=4s)
-    # car_usb_cam: 使用 hobot_usb_cam 驱动 USB 摄像头，发布 /image_raw
+    # car_usb_cam: 使用 hobot_usb_cam 驱动 USB 摄像头，发布 /image (CompressedImage)
-    # qr_detect: 订阅 /image_raw，识别二维码，发布 qr_results
+    # qr_detect: 自动识别 /image 类型，识别二维码，发布 qr_results
     # ================================================================
     usb_camera = IncludeLaunchDescription(
         PythonLaunchDescriptionSource([
@@ -153,7 +145,7 @@ def generate_launch_description():
         name='qr_detect',
         output='screen',
         condition=IfCondition(use_qr),
-        parameters=[{'image_topic': '/image_raw'}],
+        parameters=[{'image_topic': '/image'}],
     )
 
     # ================================================================
@@ -227,7 +219,7 @@ def generate_launch_description():
     # ================================================================
     # 阶段 8: VLM 图生文  (t=11s)
     # vlm_node 内部自带 TTS 服务客户端，识别完自动调用 /tts/speak
-    # 注意: TTS 服务和桥接已在阶段 3 启动，这里只启动 vlm_node
+    # 注意: TTS 服务已在阶段 3 启动，这里只启动 vlm_node
     # ================================================================
     vlm_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource([
@@ -237,7 +229,7 @@ def generate_launch_description():
         launch_arguments={
             'vlm_host': vlm_host,
             'use_tts': 'false',       # tts_server 已在阶段 3 启动
-            'use_qr_tts': 'false',    # qr_tts_bridge 已在阶段 3 启动
+            'use_qr_tts': 'false',    # QR 播报已集成到 qr_detect
         }.items(),
     )
 
@@ -254,7 +246,7 @@ def generate_launch_description():
         DeclareLaunchArgument('use_qr', default_value='true',
                               description='USB 摄像头 + 二维码识别'),
         DeclareLaunchArgument('use_tts', default_value='true',
-                              description='TTS 语音播报服务 + 二维码播报桥接'),
+                              description='TTS 语音播报服务'),
         DeclareLaunchArgument('use_obstacle', default_value='true',
                               description='障碍物检测'),
         DeclareLaunchArgument('use_planner', default_value='true',
@@ -305,11 +297,10 @@ def generate_launch_description():
             lidar_launch,
         ]),
 
-        # t=3s: TTS 服务 + 二维码播报桥接
+        # t=3s: TTS 服务
         TimerAction(period=3.0, actions=[
-            LogInfo(msg='[3/8] Starting TTS Server + QR-TTS Bridge ...'),
+            LogInfo(msg='[3/8] Starting TTS Server ...'),
             tts_server,
-            qr_tts_bridge,
         ]),
 
         # t=4s: USB 摄像头 + 二维码识别

src/vlm_detect/launch/vlm_detect.launch.py

@@ -2,13 +2,13 @@
 # -*- coding: utf-8 -*-
 """
 vlm_detect 启动文件
-同时启动 vlm_node (图生文) + tts_server (语音播报服务) + qr_tts_bridge (二维码播报)
+同时启动 vlm_node (图生文) + tts_server (语音播报服务)
 
 用法:
   ros2 launch vlm_detect vlm_detect.launch.py                          # 默认全部
   ros2 launch vlm_detect vlm_detect.launch.py vlm_host:=http://...     # 指定 VLM 服务地址
   ros2 launch vlm_detect vlm_detect.launch.py use_tts:=false           # 关闭语音播报
-  ros2 launch vlm_detect vlm_detect.launch.py use_qr_tts:=false        # 关闭二维码播报桥接
+  ros2 launch vlm_detect vlm_detect.launch.py use_qr_tts:=true         # 兼容旧二维码播报桥接
   ros2 launch vlm_detect vlm_detect.launch.py use_vlm:=false           # 只启动语音服务
 """
 
@@ -55,8 +55,8 @@ def generate_launch_description():
         description='启动 TTS 语音播报服务')
 
     declare_use_qr_tts = DeclareLaunchArgument(
-        'use_qr_tts', default_value='true',
+        'use_qr_tts', default_value='false',
-        description='启动二维码 → TTS 桥接节点')
+        description='启动旧二维码 → TTS 桥接节点')
 
     declare_config_file = DeclareLaunchArgument(
         'config_file',