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There is an interesting fairly recent published paper by Antonia Zea: A ROS Visualization App for Mobile Devices, https://arxiv.org/pdf/2008.12725.pdf. As you mention is a challenging area of research due to limitations with tools.

They also have open source the work they have done with their App in Unity: https://github.com/KIT-ISAS/iviz/tree/devel

Hope this helps. I will be following the question, very interesting topic, thank you for raising.