I’m the maintainer and a senior robotics engineer at Simbe Robotics working on a new package I’ve dubbed the Spatio-Temporal voxel layer. The goal of this package is to be a 1:1 replacement for the voxel layer improving on raytracing, marking, and efficient searching the configuration space. It also includes work for decaying voxel values over time and infrastructure to do rudimentary dynamic obstacle tracking.
I am hoping to get some community contributions, bug reports, and features. It’s important to get community buy-in in the development process. It is a highly experimental project in its infancy, the wiki page in the repository posted below contains descriptions of features in development and installation instructions to get involved.
Please feel free to reach out to me at stevenmacenski [at] gmail [dot] com if you or your company are especially interested in it or assisting in development or feature requests and you want to touch base about how to get involved.