Example Scenario
To prepare for the format that the official Challenge scenarios will be in, an example scenario has been created. The Unity package can be downloaded here. After importing the package into Unity, the scenario can be run by opening the 'Njord Example Scenario.unity' file inside the ...Gemini Unity/Assets/Models folder.
The scenario includes a number of other vessels traveling in the vicinity, where the end goal is to safely dock in 'Nyhamna'. The ros_scenarios.yaml config file should contain the following to properly run the scenario, where the Unity coordinates point at the specified dock:
scenario_type: 1
unity_x_coordinate: 1231.17
unity_z_coordinate: 740.97
local_origin_latitude: 63.4351667
local_origin_longitude: 10.3929167
Copy link