What we use to talk to ROS through Unity: https://github.com/dwhit/ros-sharp

Kuri Interface information: https://github.com/KuriRobot/Kuri-Documentation

Launching kuri nodes:

source catkin_ws/devel/setup.sh
sudo iptables -F
rosnode kill -a
roslaunch kuri_edu kuri_edu.launch &
roslaunch rosbridge_server rosbridge_websocket.launch bson_only_mode:=True port:=9091 &
roslaunch ~/catkin_ws/src/kuri_camera/launch/test.launch