This repository provides the hunav_gz_plugin, specifically designed as the Arena HuNav Plugin for Gazebo Garden (gz-sim).
It integrates the HuNavSim pedestrian simulation with the Arena-Rosnav navigation framework, enabling pedestrian-agent behavior in dynamic simulation environments. (The original wrapper for Gazebo Fortress was used for the Migration to Gazebo Garden and for the Modifcation for Arena Rosnav: https://github.com/robotics-upo/hunav_gazebo_fortress_wrapper)
- Arena-Rosnav: https://github.com/Arena-Rosnav
- HuNavSim (pedestrian simulation): https://github.com/robotics-upo/hunav_sim
- Arena fork for HuNavSim: https://github.com/voshch/hunav_sim
The plugin connects to the HunavManager of Arena-Rosnav, which functions as a dedicated entity manager for HuNavSim.
The HunavManager replaces the originally provided WorldManager from the HuNavSim project and was tailored specifically for Arena-Rosnav compatibility and modular simulation setups.
Gazebo actors lack physical interactions by default. Therefore, this plugin is responsible for their full kinematic control, including:
- Agent path updates
- Navigation goal processing
- Obstacle avoidance
To enable avoidance of static obstacles such as walls, additional logic and infrastructure was implemented.
Agent state information is published on the following topics:
/people/human_agents
An additional custom service and message definition was introduced in the Arena fork of HuNavSim (voshch/hunav_sim) to expose wall segment data.
This allows the plugin to receive detailed wall geometry and integrate it into the agent avoidance logic robustly.
MIT License – see LICENSE for details.