This work presents the Human Navigation Simulator (HuNavSim), a novel open-source tool for the simulation of different human-agent navigation behaviors in scenarios with mobile robots. The tool, the first programmed under the ROS 2 framework, can be employed along with different well-known robotics simulators like Gazebo. The main goal is to ease the development and evaluation of human-aware robot navigation systems in simulation. Besides a general human-navigation model, HuNavSim includes, as a novelty, a rich set of individual and realistic human navigation behaviors and a complete set of metrics for social navigation benchmarking.

翻译：本文提出人类导航模拟器（HuNavSim），一种新型开源工具，用于模拟移动机器人场景中不同人类智能体的导航行为。该工具是首个基于ROS 2框架开发的此类工具，可与Gazebo等知名机器人模拟器协同使用。其主要目的是简化仿真环境中的人机共融导航系统的开发与评估。除通用人类导航模型外，HuNavSim创新性地包含丰富且逼真的个性化人类导航行为集，以及一套完整的社会导航基准评估指标。