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：本文提出了一种名为Human Navigation Simulator（HuNavSim）的新型开源工具，用于模拟移动机器人场景中不同人体智能体导航行为。作为首个基于ROS 2框架开发的仿真工具，该工具可与Gazebo等多种知名机器人仿真系统配合使用。其主要目标在于简化仿真环境中人体感知机器人导航系统的开发与评估流程。除通用人体导航模型外，HuNavSim创新性地集成了丰富且具有真实感的个体化人体导航行为模式，并提供了完整的社会性导航基准测试指标集。