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You need at least a Visual (can simply be just a plane or small box) using a simple material with the generated QR code texture image. The part of generating QR codes are out of the scope of this Gazebo Answers I believe.

For the textures, there are two ways to add this to Gazebo system (at least to my knowledge):

• Create an image file (.png, .jpg) of the QR code and save it on the disk, and then create a material which uses this image file as the diffuse texture. To me, this may be simpler to do, but there can be a lot of files generated which remain on your disk after the run, and pile up on the disk.
• Create a texture to OGRE's TextureManager and fill in the image of the QR code to the memory. Doing this should keep the QR codes just in the memory and will be cleared after the run is finished.