diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml
index 9e0f2e4c..88d846b1 100644
--- a/patch/dependencies.yaml
+++ b/patch/dependencies.yaml
@@ -102,6 +102,10 @@ nav2_smac_planner:
   add_host: ["${{ 'llvm-openmp' if osx }}", "ompl", "libode"]
 nav2_constrained_smoother:
   add_host: ["${{ 'openblas' if win }}", "ceres-solver"]
+spatio_temporal_voxel_layer:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "openvdb"]
+openvdb_vendor:
+  add_host: ["openvdb"]
 ompl:
   add_host: ["ompl"]
 pybind11_json_vendor:
diff --git a/patch/ros-lyrical-openvdb-vendor.patch b/patch/ros-lyrical-openvdb-vendor.patch
new file mode 100644
index 00000000..cf0b10d5
--- /dev/null
+++ b/patch/ros-lyrical-openvdb-vendor.patch
@@ -0,0 +1,24 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -4,6 +4,7 @@ project(openvdb_vendor)
+ find_package(ament_cmake REQUIRED)
+ find_package(ament_cmake_vendor_package REQUIRED)
+
++list(APPEND CMAKE_MODULE_PATH "${CMAKE_INSTALL_PREFIX}/lib/cmake/OpenVDB")
+ list(APPEND CMAKE_MODULE_PATH "/usr/lib/x86_64-linux-gnu/cmake/OpenVDB")
+ list(APPEND CMAKE_MODULE_PATH "/usr/lib/aarch64-linux-gnu/cmake/OpenVDB")
+ find_package(OpenVDB 10 QUIET)
+diff --git a/openvdb_vendor-extras.cmake b/openvdb_vendor-extras.cmake
+--- a/openvdb_vendor-extras.cmake
++++ b/openvdb_vendor-extras.cmake
+@@ -3,7 +3,9 @@ if(NOT CMAKE_BUILD_TYPE OR CMAKE_BUILD_TYPE STREQUAL "")
+   set(CMAKE_BUILD_TYPE "Release" CACHE STRING "" FORCE)
+ endif()
+ message( STATUS "CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}" )
++get_filename_component(_openvdb_prefix "${openvdb_vendor_DIR}/../../.." ABSOLUTE)
++list(APPEND CMAKE_MODULE_PATH "${_openvdb_prefix}/lib/cmake/OpenVDB")
+ list(APPEND CMAKE_MODULE_PATH "${openvdb_vendor_DIR}/../../../opt/openvdb_vendor/lib/cmake/OpenVDB")
+ list(APPEND CMAKE_MODULE_PATH "/usr/lib/x86_64-linux-gnu/cmake/OpenVDB")
+ list(APPEND CMAKE_MODULE_PATH "/usr/lib/aarch64-linux-gnu/cmake/OpenVDB")
+ find_package(OpenVDB REQUIRED)
diff --git a/pkg_additional_info.yaml b/pkg_additional_info.yaml
index 3bc2d92e..2722ea0d 100644
--- a/pkg_additional_info.yaml
+++ b/pkg_additional_info.yaml
@@ -133,8 +133,6 @@ ompl:
   generate_dummy_package_with_run_deps:
     dep_name: ompl
     max_pin: 'x.x'
-openvdb_vendor:
-  additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
 orocos_kdl_vendor:
   additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
 pcl_ros:
@@ -244,6 +242,9 @@ gz_gui_vendor:
 gz_sim_vendor:
   additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
   build_number: 28
+openvdb_vendor:
+  additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
+  build_number: 28
 rqt_plot:
   build_number: 28
 rqt_py_common:
diff --git a/robostack.yaml b/robostack.yaml
index feb6862c..bb187502 100644
--- a/robostack.yaml
+++ b/robostack.yaml
@@ -417,6 +417,8 @@ libopencv-imgproc-dev:
     win64: [py-opencv, libopencv]
 libopenni-dev:
   robostack: []
+libopenvdb-dev:
+  robostack: [openvdb]
 liborocos-kdl:
   robostack: [orocos-kdl]
 liborocos-kdl-dev:
diff --git a/vinca.yaml b/vinca.yaml
index 33e8118e..01a6bc43 100644
--- a/vinca.yaml
+++ b/vinca.yaml
@@ -281,6 +281,7 @@ packages_select_by_deps:
       - avt_vimba_camera
       - camera_ros  # Depends on libcamera that is only available on linux
       - livox_ros_driver2
+      - openvdb_vendor
       - py_binding_tools
       - realsense2_camera
       - realsense2_description
@@ -292,6 +293,7 @@ packages_select_by_deps:
       - sick_safetyscanners2_interfaces
       - simulation_interfaces
       - slider_publisher
+      - spatio_temporal_voxel_layer
       - swri_serial_util  # Serial communication only implemented for linux
       - v4l2_camera  # Depends on v4l that is only available on linux