Color Line ferry with a dog

Hi all! We’re traveling with our dog by car, so we’re taking a ferry from Hirtshals to Kristiansand. I know that a dog has to stay either in a car or in a pre-booked kennel.
Did anyone have such experience before? How are the kennels there? Can an owner be there too during the trip?
Thanks in advance for your advice and comments! And here’s the guy we’re traveling with 🙂