Hello, I've been thinking about the same problem for 8 days.

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Hello We want to implement ROS through ubuntuVM, connect ROS and Lidar, and distribute Lidar data to Unity in Windows through ROS. Currently, ROS and Lidar interworking / ROS and Unity have been completed, and we are working on a way to distribute Lidar data to Unity. My attempt is to create and export a dll from the ydlidar_client.cpp that can display Lidar data, but the include of ro/ros.h in ydlidar_client.cpp shows repeated failures. Not only the header file, but also all the files in /opt/ros/[ROS Version]/include could not be loaded, so I tried to copy the folder and load it from the project folder, but failed. Is there a way to link Lidar and Unity through ROS? I would like to hand over Lidar's Laserscan data to Unity.