This is a drop in replacement for the voxel_grid voxel representation of the environment. This package does a number of things to improve on the voxel grid package and extend the capabilities offered to the users, under a LGPL v2.1 license. Developed and maintained by Steven Macenski at Simbe Robotics. Leveraging OpenVDB, we have the ability to efficiently maintain a 3 dimensional voxel-representative world space. We wrap this with ROS tools and interfaces to the navigation stack to allow for use of this layer in standard ROS configurations. It is certainly possible to utilize this package without ROS/Navigation and I invite other competing methodologies to develop here and create interfaces.