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If you're just looking for kinematic playout (ie: visualisation), then perhaps the infrastructure in siemens/ros-sharp could be sufficient (urdf loader, trajectory/JointState visualisation, etc).
If you're actually looking for full use of MoveIt (ie: planning, sensor integration, etc) with Unity, that might get a bit involved, but parts of that could still be done with ros-sharp I imagine.
Most (if not all) of MoveIt's planning capabilities can be interacted with via topics, services and actions, and those should be accessible through ros-sharp as well. Making sense of / visualising the results returned by MoveIt though is something that you'll probably have to implement yourself.
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If you're just looking for kinematic playout (ie: visualisation), then perhaps the infrastructure in siemens/ros-sharp could be sufficient (urdf loader, trajectory/JointState visualisation, etc).
If you're actually looking for full use of MoveIt (ie: planning, sensor integration, etc) with Unity, that might get a bit involved, but parts of that could still be done with ros-sharp I imagine.
Most (if not all) of MoveIt's planning capabilities can be interacted with via topics, services and actions, and those should be accessible through ros-sharp as well. Making sense of / visualising the results returned by MoveIt though is something that you'll probably have to implement yourself.
Edit: if you're just after using the IK solvers directly (so not the planning facilities) then those are essentially C++ classes, so not sure how to integrate those directly without some effort. MoveIt does expose both FK and IK services which should be accessible using ros-sharp though.
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