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This work presents the Human Navigation Simulator (HuNavSim), a novelopen-source tool for the simulation of different human-agent navigationbehaviors in scenarios with mobile robots. The tool, the first programmed underthe ROS 2 framework, can be employed along with different well-known roboticssimulators like Gazebo. The main goal is to ease the development and evaluationof human-aware robot navigation systems in simulation. Besides a generalhuman-navigation model, HuNavSim includes, as a novelty, a rich set ofindividual and realistic human navigation behaviors and a complete set ofmetrics for social navigation benchmarking.

HuNavSim: A ROS 2 Human Navigation Simulator for Benchmarking Human-Aware Robot Navigation