Hey Guys,
I would suggest going with Ogre3d. It's free, has a large user-base and is very configurable and easily modified to suit your needs. I have already written some of the code for making ROSE formats available to the Ogre3D Engine.
I will edit this post shortly with the code. I'm not sure of any of its downfalls or bugs since I did it 2 years ago, but it will be a good start for what you need to do
Cheers, Brett
Edit: Shit, turns out I wrote a whole Conversion application that converts the whole of ROSE data into formats that were more friendly to OGRE, but then conveniently have lost those converters
My suggestion to use OGRE still stands however.