UFC officials announced the bout on Friday morning.
UFC Fight Night 25 is scheduled for Sept. 17 at the Ernest N. Morial Convention Center in New Orleans. Jake Shields faces Jake Ellenberger in the main event of the Spike-televised card.
Roberts has suffered back to back losses in his previous Octagon outings and is likely fighting for his job. Waldburger lost to Johny Hendricks in his last bout, but was riding a four-fight winning streak prior to the TKO defeat.