s57_tools

A collection of ROS 2 packages for using S57 ENC (Electronic Navigation Charts) in robotic navigation.

Overview

This suite allows you to load S57 charts, convert them into Grid Maps, and use them directly in the Nav2 stack as a costmap layer.

Packages

• s57_grids: The core node. Reads S57 files and publishes them as grid_map messages.
• s57_layer: A nav2_costmap_2d plugin. Subscribes to s57_grids outputs and adds them to the costmap (marking shallow water, restricted areas, etc. as obstacles).
• marine_charts: Underlying C++ library for parsing S57 data.
• s57_msgs: Custom service and message definitions.

Workflow

1. Data Prep: Acquire S57 ENC files (.000).
2. Launch: Start s57_grids_node pointing to your data directory.
3. Configure: Set up your Nav2 usage to include the s57_layer plugin.
4. Navigate: As the robot moves, s57_layer dynamically requests map data from s57_grids based on the robot's location.

Quick Start relative to s57_grids

See s57_grids/README.md for details on running the grid publisher. See s57_layer/README.md for details on configuring the Nav2 plugin.