USARSim and ROS integration

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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

Please type following commands on the terminal window of PC2.

$ echo “source /opt/ros/fuerte/setup.bash” >> ~/.bashrc
$ . ~/.bashrc
$ sudo apt-get install python-rosinstall python-rosdep ros-fuerte-brown-remotelab ros-fuerte-control ros-fuerte-common-msgs ros-fuerte-slam-gmapping ros-fuerte-hector-slam
$ rosws init ~/fuerte_workspace /opt/ros/fuerte
$ echo “source ~/fuerte_workspace/setup.bash” >> ~/.bashrc
$ mkdir ~/fuerte_workspace/sandbox
$ source ~/fuerte_workspace/setup.bash
$ rosws set ~/fuerte_workspace/sandbox
$ source ~/fuerte_workspace/setup.bash
$ roscd
$ cd sandbox
$ git clone git://git.assembla.com/usarsim.git
(Under the proxy, try “git clone http://git.assembla.com/usarsim.git&#8221 )
$ rosmake usarsim_inf

For 1 it really depends on what you want to do. My guess is that 1) is going to be easiest with both running on the same machine.

For 2 groovy is more mature and has more capabilities. However if hydro has the feature set you want released then it's going to be slightly newer and more up to date.

For 3 Gazebo is very closely integrated with ROS and I believe the majority of users use it with ROS.