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It might be worth considering to use USARSimROS (it might be developed by someone in development team of USARSim though I'm not sure). Looks like it's actively maintained, although from this wiki page I sensed that it may have been tested with ROS electric and fuerte.

It might be worth considering to use USARSimROS (it might be developed by someone in development team of USARSim at Georgia Tech though I'm not sure). Looks like it's actively maintained, although from this wiki page I sensed that it may have been tested with ROS electric and fuerte.