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：继我们之前的工作之后，本文提出了 Arena-Rosnav 2.0，这是对我们先前工作 Arena-Bench 和 Arena-Rosnav 的扩展，新增了多个用于开发和基准测试机器人导航方法的模块。该平台经过根本性的重构，提供了统一的应用编程接口，以添加规划算法、仿真器或评估功能等额外功能。我们融入了更逼真的仿真和行人行为，并提供了详尽的文档以降低入门门槛。我们首先通过一项用户研究评估系统，邀请经验丰富的研究人员以及新从业者和学生进行测试。反馈总体上为正面，且大量参与者正在将该系统用于其他研究项目。最后，我们通过集成两个新仿真器和多种当前最先进的导航方法并进行相互基准测试，证明了系统的可行性。该平台在 https://github.com/Arena-Rosnav 上公开可用。