I would be interested in what your history is after the foreclosure, and what the circumstances of the foreclosure were.
If the household income is near $80K you may not be eligible for a USDA loan because of the income cap, even if there are kids in the family.
I would wonder about your debt ratio, if you make a good income but only have $2000 in savings. You'll need about $3500 to fund your escrow account.
I don't want to sound harsh, but you've had a foreclosure, and as soon as possible want to buy a home, with no money saved. Take a look at your budget and see if more can be saved, or pay debt.
If you can get the escrows saved (~$3500) it would go long way for me to help with the rest. Check out my company's website at www.NACA.com
Mortgage Counselor-NMLS #280951
NACA-Neighborhood Assistance Corporation of America