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：本文介绍了一种新型开源工具——人类导航模拟器（HuNavSim），用于模拟移动机器人场景中不同人类智能体导航行为。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。其主要目标是在仿真环境中简化人机共融导航系统的开发与评估流程。除通用的人类导航模型外，HuNavSim的创新性体现在提供丰富多样且贴近实际的个体人类导航行为集合，以及一套完整的社会性导航评估指标体系。