The 22-year-old back rower began his career at Rovers before joining York City Knights in 2007. Following impressive performances with York he received their Young Player of the Year award and returned to Rovers for Super League XIV.
Esders said: “This club is developing a great reputation for bringing through young players and I’m really glad of the opportunity to play here.
“I have a lot of respect for head coach Brian McDermott and am looking forward to working with him and the team.”
McDermott said: “Ryan has caught the eye of several of our coaches over the years at both reserves and youth level and he has been on our list for a while.