# \[STVL\] Released to 20.04+

**URL:** <https://discourse.openrobotics.org/t/stvl-released-to-20-04/23498>\
**Category:** Navigation\
**Created:** [December 15, 2021, 8:57pm UTC](https://discourse.openrobotics.org/t/stvl-released-to-20-04/23498 "2021-12-15T20:57:34Z")\
**Posts on this page:** 1\
**Page:** 1

<div class="post-metadata">

**Author:** ![smac](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/smac/32/6763_2.png) [@smac](https://discourse.openrobotics.org/u/smac)\
**Post date:** [December 15, 2021, 8:57pm UTC](https://discourse.openrobotics.org/t/stvl-released-to-20-04/23498/1 "2021-12-15T20:57:34Z")

</div>

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](https://github.com/SteveMacenski/spatio_temporal_voxel_layer)  
Tutorial: [https://navigation.ros.org/tutorials/docs/navigation2\_with\_stvl.html](https://navigation.ros.org/tutorials/docs/navigation2_with_stvl.html)  
Paper: [https://journals.sagepub.com/doi/10.1177/1729881420910530](https://journals.sagepub.com/doi/10.1177/1729881420910530)

Happy voxeling,

Steve