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    I am on a laptop with no Xoops install, but trawling code from a module download of the 'News' module I would say you need to do something like this. In 'article.php' you would add:
 $data=array(); 
$type="url"; 
$data['url'] = '.XOOPS_URL.'/modules/news/article.php?storyid='.$this->storyid().''; 
$showmetheQRcode= qrcode($type,$data);  
Then, where the template assignments are made, normally lower down the page:
 $xoopsTpl->assign('showmetheQRcode', $showmetheQRcode);  
 Then, in the template file (news_article.html)
 <div><{$showmetheQRcode}>div>  
I cannot test this and I'm sure there will be a missing quote mark somewhere that will stop it working, but that's the general idea, I think 

This is obviously not an 'out-of-the-box' solution, but perhaps the developer will publish some specific code examples for the more popular Xoops modules to help get people started.