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Digital Competition 2022
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Introduction
1 Summary
2 Njord - Digital Challenge 2022
2.1 Why do we want to have a digital competition?
2.2 The Digital Challenge
2.3 The Physical Challenge
3 Technical Specifications
3.1 Disclaimer
3.2 General Requirements
4 Platform Interface
4.1 Platform Interface
4.2 Sensor Input
4.3 Lidar
4.4 Position and Velocity data
4.5 Control Output
4.6 MATLAB and Simulink Templates
5 Elements In The Challenge
General
5.1 Other Vessels
5.2 Nautical Charts
5.3 Sea markers
6 Time Schedule
6.1 Important deadlines
6.2 Check-ins
6.3 Webinar
6.4 Competition
6.5 Final hand-in of the guidance system
7 The Competition
General
7.1 Maneuvering
7.2 Collision Avoidance
7.3 Docking
7.4 Situational awareness
7.5 Technical Report
7.6 Weighting
8 Registration of teams
8.1 How to register
8.2 Deposit
Installation guide
Virtual Machine
ROS
Gemini Unity
Troubleshooting & Known issues
Running on 2 computers
Updating from release 1
Usage
Launching the platform
Running Scenarios
Example Scenario
.csv Control
Joystick package
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Gemini Unity
NOTE: The virtual machine is now configured. The following steps should be done natively in Windows, not in the VM.
Install Git for Windows command prompt, if you do not already have it installed. Download the installer from git-scm.com and follow the installer instructions.
Clone the Gemini repository by running the following in a Windows terminal.
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git clone https://github.com/Njord-The-Autonomous-Ship-Challenge/Gemini.git
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Configuring network settings

Open Gemini\Gemini-Unity\Assets\Gemini\Scripts\EMRSensors\Core\Sensor.cs in a file editor. Change the IP address on line 24 to match the IP your VM is using.

Install gRPC dependencies

In the Gemini folder, right click on the 'setup.ps1' file and select 'Run with powershell'.

Unity Hub

For the time being, Gemini depends on the Unity editor. Download Unity Hub from unity3d.com.
Unity Hub requires an active license, which again requires a Unity ID. After creating an account, 'Activate New License' followed by 'Unity Personal' should select the free license. The free license is sufficient for this application.
In Unity Hub, on the 'Installs' tab, select 'Add' and choose version 2019.4.xxf1, where the x's indicate the latest stable version.
Select the 'Projects' tab. Then, select 'Add', and find the 'Gemini-Unity' folder which is inside the cloned 'Gemini' folder. Once added, launch the project.

Unity Packages

Download the Njord assets package from this link. After launching the project from Unity Hub, import the package by clicking 'Assets -> Import package'. This step can take a while.

Configure the force controller IP address

First, launch Unity and open the 'Njord' scene found in the 'Models' folder. Select the 'NjordVessel' object in the left-hand menu. In the inspector on the right-hand side, one of the of components are called 'Force Control Manager'. Open the dropdown menu and change the Host IP address to your Windows IPv4 address (the same as you specified in the ros_clients config file).
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Troubleshooting & Known issues
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Contents
Configuring network settings
Install gRPC dependencies
Unity Hub
Unity Packages