URDF-Importer VS ros-sharp

From my experience, ROS# is not the recommended way to connect Unity and ROS anymore. You probably want to use the ROS-TCP-Connector which is officially supported by Unity and its corresponding ROS package. That page has quite a few tutorials to help you get the connection setup. I currently maintain a plugin that implements a set of commonly used sensors here which might be of some use to you. Another useful resource maintained by Unity is their URDF importer, but it is still a bit buggy. Let me know if you need any other resources or help, I'm trying to make Unity a bit more livable for ROS developers.

User_App_ROS_UnitySimulationExample · siemens/ros-sharp Wiki (github.com)

RosSharp looks like can handle the visualization in Unity: https://github.com/siemens/ros-sharp/tree/master/Unity3D/Assets/RosSharp/Scripts/RosBridgeClient/SensorDataVisualization

For ROS1 - check out https://github.com/siemens/ros-sharp

The Microsoft ROS Landing page includes setup instructions for ROS natively on Windows. Additionally, if you are writing a Windows application, you can use ROS#, which includes .net bindings for ROS using the ROS Bridge.

The tools in the Unity Robotics Hub provide a URDF importer (derived from ROS# https://github.com/siemens/ros-sharp) and a low level TCP communications bridge to ROS.

There are several ways of using Unity for robotics. Robotics for Unity is a new field and support is still custom made. Most of the applications out there are proprietary software created by private companies and not easily accessible or configurable by others. ROS support has been recently introduced by Unity itself, and it is a fork from a previous library from Siemens' RosSharp. In my setup, I used the Unity ROS library which works with the latest ArticulationBody types.