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You can import UDK scenarios into USARSim, so you can have many huge worlds with a little effort (although there may be scaling issues from unreal units to metric). I am trying to work with USARSimRos, as suggested by IsaacSaito and, although the idea looks good, I found some bugs in it

You can import UDK scenarios into USARSim, so you can have many huge worlds with a little effort (although there may be scaling issues from unreal units to metric). I am trying to work with USARSimRos, as suggested by IsaacSaito @IsaacSaito and, although the idea looks good, I found some bugs in it