Hi,
Your friendly neighborhood navigator here, I wanted to announce that (finally) the Spatio-Temporal Voxel Layer (STVL) has been released to ROS 2 and the last distribution of ROS 1, Noetic! After a few months of waiting on a core dependency, OpenVDB, to fix its binaries, its now available for use in Noetic, Foxy and very shortly Galactic.
Prior to December 2021, there was a quirk with libjmalloc use in the project needing to manually modify LD_PRELOAD to get it all to function properly, as a result we did not release binaries so that users didn’t have a poor out of box experience. That has been resolved recently and its ready for use again!
GitHub: GitHub - SteveMacenski/spatio_temporal_voxel_layer: A new voxel layer leveraging modern 3D graphics tools to modernize navigation environmental representations
Tutorial: (STVL) Using an External Costmap Plugin — Navigation 2 1.0.0 documentation
Paper: https://journals.sagepub.com/doi/10.1177/1729881420910530
Happy voxeling,
Steve