As robots move from laboratories and industries to the real world, they must develop new abilities to collaborate with humans in various aspects, including human-robot collaborative navigation (HRCN) tasks. Then, it is required to develop general methodologies to evaluate these robots' behaviors. These methodologies should incorporate objective and subjective measurements. Objective measurements for evaluating a robot's behavior while navigating with others can be accomplished using social distances in conjunction with task characteristics, people-robot relationships, and physical space. Additionally, the objective evaluation of the task must consider human behavior, which is influenced by changes and the structure of their environment. Subjective evaluations of robot's behaviors can be conducted using surveys that address various aspects of robot usability. This includes people's perceptions of their interaction during their collaborative task with the robot, focusing on aspects such as sociability, comfort, and task-intelligence. Moreover, the communicative interaction between the agents (people and robots) involved in the collaborative task should also be evaluated. Therefore, this paper presents a comprehensive methodology for objectively and subjectively evaluating HRCN tasks.