tmp: 启用 main.py 中的任务1执行，移除对 QReader 的引用并调整图像处理逻辑，以提升整体功能和代码清晰度。

main.py

@@ -51,7 +51,7 @@ def main():
         Ctrl.base_msg.stop()  # BUG 垃圾指令 for eat
 
         # time.sleep(100) # TEST,
-        # run_task_1(Ctrl, msg, time_sleep=TIME_SLEEP)
+        run_task_1(Ctrl, msg, time_sleep=TIME_SLEEP)
 
         arrow_direction = run_task_2(Ctrl, msg, xy_flag=False)
         # arrow_direction = 'right' # TEST

utils/image_raw.py

@@ -6,7 +6,7 @@ from sensor_msgs.msg import Image
 from cv_bridge import CvBridge
 import cv2
 from rclpy.qos import QoSProfile, QoSReliabilityPolicy, QoSHistoryPolicy
-from qreader import QReader
+# from qreader import QReader
 from threading import Thread, Lock
 import time
 import queue
@@ -45,7 +45,7 @@ class ImageSubscriber(Node):
 class ImageProcessor:
     def __init__(self):
         self.image_subscriber = ImageSubscriber()
-        self.qreader = QReader()
+        # self.qreader = QReader()
         self.spin_thread = None
         self.running = True
         self.log = get_logger("图像处理器")
@@ -83,7 +83,8 @@ class ImageProcessor:
     def decode_qrcode(self, img = None):
         if img is None:
             img = self.get_current_image()
-        decoded_info = self.qreader.detect_and_decode(image=img)
+        # decoded_info = self.qreader.detect_and_decode(image=img)
+        decoded_info = None
         if decoded_info and len(decoded_info) > 0:
             return decoded_info[0]
         return None