Most appropriated simulator?

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What software package would you suggest to simulate a team of UAVs in USAR scenarios? Required features:

1. 3D
2. realistic outdoor environments
3. multiagent
4. simulation of the appropriate sensors (IMU, GPS, cameras, ...)
5. ROS integration

We will use some AscTec firefly but any simulated quadrotor would be fine.

I tried USARSim which has all the required features but lacks the integration with ROS. There's an open source (wannabe) bridge project USARSimRos that should do the job but has some bugs (e.g. here). Nothing unresolvable but before reinventing the wheel I am scouting for alternative solutions.