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USARSim and ROS integration

I have my own map and robot placed in the Map through USARSim. Since I have installed USARSim in Windows7 and ROS runs on Linux. So; what should I do--1)install ROS and USARSim both in Linux or 2)On windows7 use virtualbox to install Linux and then on Linux install ROS?

Question 2: Which version of ROS should be installed? Groovy or hydro? Question 3: Gazebo or Usarsim which one is best to work with ROS?

USARSim and ROS integration

I have my own map and robot placed in the Map through USARSim. Since I have installed USARSim in Windows7 and ROS runs on Linux. So; what should I do--1)install ROS and USARSim both in Linux or 2)On windows7 use virtualbox to install Linux and then on Linux install ROS?

Question 2: Which version of ROS should be installed? Groovy or hydro? Question 3: Gazebo or Usarsim which one is best to work with ROS?

USARSim and ROS integration

I have my own map and robot placed in the Map through USARSim. Since I have installed USARSim in Windows7 and ROS runs on Linux. So; what should I do--1)install ROS and USARSim both in Linux or 2)On windows7 use virtualbox to install Linux and then on Linux install ROS?

Question 2: Which version of ROS should be installed? Groovy or hydro? Question 3: Gazebo or Usarsim which one is best to work with ROS?

Has anyone correctly use this framework upto high level navigation? I am stuck at creation of 2D global map.