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Following up on our previous works, in this paper, we present Arena-Rosnav2.0 an extension to our previous works Arena-Bench and Arena-Rosnav, which addsa variety of additional modules for developing and benchmarking roboticnavigation approaches. The platform is fundamentally restructured and providesunified APIs to add additional functionalities such as planning algorithms,simulators, or evaluation functionalities. We have included more realisticsimulation and pedestrian behavior and provide a profound documentation tolower the entry barrier. We evaluated our system by first, conducting a userstudy in which we asked experienced researchers as well as new practitionersand students to test our system. The feedback was mostly positive and a highnumber of participants are utilizing our system for other research endeavors.Finally, we demonstrate the feasibility of our system by integrating two newsimulators and a variety of state of the art navigation approaches andbenchmark them against one another. The platform is openly available athttps://github.com/Arena-Rosnav.

Arena-Rosnav 2.0: A Development and Benchmarking Platform for Robot Navigation in Highly Dynamic Environments