D
D
Digital Competition 2022
Search…
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
Powered By GitBook
Troubleshooting & Known issues

Windows operating system language

A known bug is attributed to the language of the operating system running Gemini. The default repository is configured for systems running in English, and systems running other languages may be subject to this issue.
When attempting to run a pre-defined scenario in Gemini, the camera will show a flashing grey screen.
The current solution is to uncomment line 22 in Gemini/Gemini-Unity/Assets/Scripts/ScenarioGenerator/ReadCSV.cs.
1
elem = elem.Replace(".", ",");
Copied!

Running simulations in Unity without running ROS

Many of the networking scripts in Gemini rely on communication over gRPC. If these scripts are run without a server to communicate with, Unity is known to slow down and freeze.
To resolve this, either run both ROS nodes normally (ros_client and ros_adapter), or alternatively disable certain scripts. Disabling the 'SensorRig' asset, which is a part of the 'NjordVessel' model, and the 'Nav Client' script on the vessel allows Unity to run simulations without ros_adapter running. Disabling the 'Force Control Manager' script on the vessel will allow for running without the ros_client node running.
Installation guide - Previous
Gemini Unity
Next - Installation guide
Running on 2 computers
Last modified 3mo ago
Copy link
Contents
Windows operating system language
Running simulations in Unity without running ROS