taxonomies not open with capabilities

I’m not sure why anyone cannot see Voyage, you’ve added the proper capabilities. But you do not appear to have added any of the capabilities for the taxonomies you’ve added, this must be done as well.

If you are not seeing your meta boxes on the voyage edit page, be sure to check under screen options that your meta boxes are checked to be visible. The meta box state is stored in usermeta, so your code can ensure the boxes are visible to new users.