URoboSim

Unreal engine based robot simulator.

Features

Import a URDF file into UE4 by drag & drop into the content browser. A new asset is created with the URDF information. Before dragging the asset into the game world, certain properties can be edited using a new visual interface found in the Editor Mode window.
As an optional feature, this project can be run with the UROSBridge plugin to control the imported robot from a ROS server through websockets.
The URDF can be placed inside a folder called XML which should be in the same directory as the Unreal Engine Project File.
Note that if the URDF uses meshes, it likely keeps them in one or more folders.
Make sure that for each robot within the XML folder, the file system reflects the structure that the URDF expects.
For example, for the pr2, it expects to find the wheel mesh here: "pr2_description/meshes/base_v0/wheel.dae". So in the same directory as the pr2.urdf, there should be a folder called pr2_description which contains the subsequent folders and file.
Be sure to check the Wiki page for more details.
See here PR2 Packages for ROS Kinetic Kame.
See the ex-ros-tf-robosim branch of RobCoG as an Unreal Project example with PR2 UROSBridge communication and TF publishing with UTFPublisher.

Drag and drop a compatible urdf in the content menu

Drag and drop the the generated file in the world

Generated robot tree