ros-sharp VS moveit

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.

I like to Move it Move it

If you don't mind doing a little coding yourself, the core of MoveIt is and always will be open source

as far as I know ros and arduino, you could use the Moveit controller tool for controlling your robot https://moveit.ros.org/ see if it helps.

MoveIt provides this through IterativeParabolicTimeParameterization. You can use this implementation as a reference, if you want to have an in depth understanding of how a trajectory is generated.