How to activate the visualization of a topic from code?

[Hydran00]

The problem
Hi, I am trying to visualize the streaming of a PointCloud2 topic in a meta quest pro. It works well in the editor but the problem is that I cannot find a way to activate the topic subscribtion and trigger the drawer of the pointcloud since I do not have the camera GUI inside the oculus builded app. In other words I want to replicate what happens when I click the 3D button of that specific topic in the DefaultVisualizationSuite GUI directly from code.

Environment

• Unity Version: 2021.3.25f1
• Build Target: Meta quest pro
• OS: Ubuntu 22.04
• ROS2 Humble
• ROS–Unity communication: Ros Tcp Endpoint in local

Thank you for your help!

[Hydran00]

I managed to find a workaround for this problem.
Edit file

<project_name>/Library/PackageCache/com.unity.robotics.visualizations@c27f00c6cf/Runtime/Scripts/VisualizationTopicsTabEntry.cs

adding this inside DrawGUILine() function

if(Topic == "your_topic_name" && showDrawing==false){
    showDrawing = true;
}

before

if (showDrawing != m_IsVisualizingDrawing || showWindow != m_IsVisualizingUI )
{
    SetVisualizing(showWindow, showDrawing);
}
...

This will force the activation of the drawing of your topic when you press start.
Anyway this does not solve my issue, because I can see the pointcloud in the scene but not in VR (either simulator or builded apk). This is related to #251