From Neil Tardella
Actin is a powerful commercial control and simulation framework used in several industrial and government robotic systems. Energid, the developer of Actin, is now providing a ROS Kinetic stack and a ROS plugin base class for Actin that supports Windows, Mac OS X, and Linux. Actin now also includes URDF reader support in Linux builds.
The open source ActinROS code is available on Github at the following link:
The repository includes plugins and example applications for using Actin with ROS. A lightweight version of Actin ships with Robai Cyton robots.