Following up on our previous works, in this paper, we present Arena-Rosnav 2.0 an extension to our previous works Arena-Bench and Arena-Rosnav, which adds a variety of additional modules for developing and benchmarking robotic navigation approaches. The platform is fundamentally restructured and provides unified APIs to add additional functionalities such as planning algorithms, simulators, or evaluation functionalities. We have included more realistic simulation and pedestrian behavior and provide a profound documentation to lower the entry barrier. We evaluated our system by first, conducting a user study in which we asked experienced researchers as well as new practitioners and students to test our system. The feedback was mostly positive and a high number of participants are utilizing our system for other research endeavors. Finally, we demonstrate the feasibility of our system by integrating two new simulators and a variety of state of the art navigation approaches and benchmark them against one another. The platform is openly available at https://github.com/Arena-Rosnav.

翻译：延续我们先前的工作，本文介绍了Arena-Rosnav 2.0——对前期工作Arena-Bench和Arena-Rosnav的扩展，新增了用于开发和基准测试机器人导航方法的多项模块。该平台经过根本性重构，提供统一API接口以扩展规划算法、仿真器或评估功能等附加模块。我们引入了更逼真的仿真环境和行人行为模型，并提供了详尽的文档以降低使用门槛。通过用户研究对系统进行评估：邀请经验丰富的研究人员、新从业者及学生进行测试，反馈结果总体积极，大量参与者正将本系统用于其他研究项目。最后，我们集成了两个新型仿真器及多种前沿导航方法并开展相互对比基准测试，验证了平台的可行性。本平台已在https://github.com/Arena-Rosnav 开源发布。