Clarify Licensing throughout the repo (#1080)

* Add proper SPDX license IDs and repo LICENSE file * Fixing a minor linter typo
ros-navigation · Aug 29, 2019 · 97de88d · 97de88d
1 parent f46c8ee
commit 97de88d
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diff --git a/LICENSE b/LICENSE
@@ -0,0 +1,17 @@
+Portions of this repository are available under one of the following licenses
+
+SPDX-ID:
+* LGPL-2.1-or-later
+* Apache-2.0
+* BSD-3-Clause
+* Apache-2.0 AND BSD-3-Clause
+
+Please see the package.xml file for each package to see the specific license for
+that package.
+
+Contributions to existing files should be made under the license of that file.
+New files should be made under the first license listed in the appropriate
+package.xml file
+
+For files that are not otherwise marked, they are provided under the Apache-2.0
+license.
diff --git a/nav2_amcl/include/nav2_amcl/angleutils.hpp b/nav2_amcl/include/nav2_amcl/angleutils.hpp
@@ -57,6 +57,6 @@ angleutils::angle_diff(double a, double b)
   }
 }
 
-}  // namespace nav2_util
+}  // namespace nav2_amcl
 
 #endif  // NAV2_AMCL__ANGLEUTILS_HPP_
diff --git a/nav2_amcl/package.xml b/nav2_amcl/package.xml
@@ -18,7 +18,7 @@
   <!-- <author>Brian P. Gerkey</author>
   <author>contradict@gmail.com</author> -->
   <maintainer email="mohammad.haghighipanah@intel.com">Mohammad Haghighipanah</maintainer>
-  <license>LGPL</license>
+  <license>LGPL-2.1-or-later</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <build_depend>nav2_common</build_depend>

diff --git a/nav2_behavior_tree/package.xml b/nav2_behavior_tree/package.xml
@@ -7,7 +7,7 @@
   <maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
   <maintainer email="carlos.a.orduno@intel.com">Carlos Orduno</maintainer>
   <maintainer email="mohammad.haghighipanah@intel.com">Carlos Orduno</maintainer>
-  <license>Apache License 2.0</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 

diff --git a/nav2_bringup/package.xml b/nav2_bringup/package.xml
@@ -6,7 +6,7 @@
   <description>Bringup scripts and configurations for the navigation2 stack</description>
   <maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
   <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>
-  <license>Apache License 2.0</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <build_depend>nav2_common</build_depend>

diff --git a/nav2_bt_navigator/package.xml b/nav2_bt_navigator/package.xml
@@ -5,7 +5,7 @@
   <version>0.2.2</version>
   <description>TODO</description>
   <maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
-  <license>Apache License 2.0</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <build_depend>nav2_common</build_depend>

diff --git a/nav2_common/package.xml b/nav2_common/package.xml
@@ -5,7 +5,7 @@
   <version>0.2.2</version>
   <description>Common support functionality used throughout the navigation 2 stack</description>
   <maintainer email="carl.r.delsey@intel.com">Carl Delsey</maintainer>
-  <license>Apache License 2.0</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake_core</buildtool_depend>
 

diff --git a/nav2_costmap_2d/package.xml b/nav2_costmap_2d/package.xml
@@ -13,7 +13,8 @@
     and configuration of sensor topics.
   </description>
   <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>
-  <license>BSD</license>
+  <license>BSD-3-Clause</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <build_depend>nav2_common</build_depend>

diff --git a/nav2_dwb_controller/costmap_queue/package.xml b/nav2_dwb_controller/costmap_queue/package.xml
@@ -4,7 +4,7 @@
   <version>0.2.2</version>
   <description>The costmap_queue package</description>
   <maintainer email="davidvlu@gmail.com">David V. Lu!!</maintainer>
-  <license>BSD</license>
+  <license>BSD-3-Clause</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <build_depend>nav2_common</build_depend>

diff --git a/nav2_dwb_controller/dwb_controller/package.xml b/nav2_dwb_controller/dwb_controller/package.xml
@@ -5,7 +5,7 @@
   <version>0.2.2</version>
   <description>TODO</description>
   <maintainer email="carl.r.delsey@intel.com">Carl Delsey</maintainer>
-  <license>Apache License 2.0</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <build_depend>nav2_common</build_depend>

diff --git a/nav2_dwb_controller/dwb_core/package.xml b/nav2_dwb_controller/dwb_core/package.xml
@@ -5,7 +5,7 @@
   <version>0.2.2</version>
   <description>TODO</description>
   <maintainer email="carl.r.delsey@intel.com">Carl Delsey</maintainer>
-  <license>BSD</license>
+  <license>BSD-3-Clause</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <build_depend>nav2_common</build_depend>

diff --git a/nav2_dwb_controller/dwb_critics/package.xml b/nav2_dwb_controller/dwb_critics/package.xml
@@ -4,7 +4,7 @@
   <version>0.2.2</version>
   <description>The dwb_critics package</description>
   <maintainer email="davidvlu@gmail.com">David V. Lu!!</maintainer>
-  <license>BSD</license>
+  <license>BSD-3-Clause</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <build_depend>nav2_common</build_depend>

diff --git a/nav2_dwb_controller/dwb_msgs/package.xml b/nav2_dwb_controller/dwb_msgs/package.xml
@@ -5,7 +5,7 @@
   <version>0.2.2</version>
   <description>Message/Service definitions specifically for the dwb_core</description>
   <maintainer email="davidvlu@gmail.com">David V. Lu!!</maintainer>
-  <license>BSD</license>
+  <license>BSD-3-Clause</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 

diff --git a/nav2_dwb_controller/dwb_plugins/package.xml b/nav2_dwb_controller/dwb_plugins/package.xml
@@ -7,7 +7,7 @@
       and TrajectoryGenerators for dwb_core
   </description>
   <maintainer email="davidvlu@gmail.com">David V. Lu!!</maintainer>
-  <license>BSD</license>
+  <license>BSD-3-Clause</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <build_depend>nav2_common</build_depend>

diff --git a/nav2_dwb_controller/nav2_dwb_controller/package.xml b/nav2_dwb_controller/nav2_dwb_controller/package.xml
@@ -8,7 +8,7 @@
   </description>
   <maintainer email="carl.r.delsey@intel.com">Carl Delsey</maintainer>
   <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>
-  <license>Apache License 2.0</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 

diff --git a/nav2_dwb_controller/nav_2d_msgs/package.xml b/nav2_dwb_controller/nav_2d_msgs/package.xml
@@ -5,7 +5,7 @@
   <version>0.2.2</version>
   <description>Basic message types for two dimensional navigation, extending from geometry_msgs::Pose2D.</description>
   <maintainer email="davidvlu@gmail.com">David V. Lu!!</maintainer>
-  <license>BSD</license>
+  <license>BSD-3-Clause</license>
 
   <build_export_depend>rosidl_default_runtime</build_export_depend>
 

diff --git a/nav2_dwb_controller/nav_2d_utils/package.xml b/nav2_dwb_controller/nav_2d_utils/package.xml
@@ -5,7 +5,7 @@
   <version>0.2.2</version>
   <description>A handful of useful utility functions for nav_2d packages.</description>
   <maintainer email="davidvlu@gmail.com">David V. Lu!!</maintainer>
-  <license>BSD</license>
+  <license>BSD-3-Clause</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <build_depend>nav2_common</build_depend>

diff --git a/nav2_dynamic_params/package.xml b/nav2_dynamic_params/package.xml
@@ -9,7 +9,7 @@
     convenience functions for event callbacks are also provided
   </description>
   <maintainer email="brian.wilcox@intel.com">Brian Wilcox</maintainer>
-  <license>Apache License 2.0</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <build_depend>nav2_common</build_depend>

diff --git a/nav2_lifecycle_manager/package.xml b/nav2_lifecycle_manager/package.xml
@@ -5,7 +5,7 @@
   <version>0.2.2</version>
   <description>A controller/manager for the lifecycle nodes of the Navigation 2 system</description>
   <maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
-  <license>Apache License 2.0</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 

diff --git a/nav2_map_server/package.xml b/nav2_map_server/package.xml
@@ -7,7 +7,8 @@
     Refactored map server for ROS2 Navigation
   </description>
   <maintainer email="brian.wilcox@intel.com">Brian Wilcox</maintainer>
-  <license>BSD License 2.0</license>
+  <license>Apache-2.0</license>
+  <license>BSD-3-Clause</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 

diff --git a/nav2_msgs/package.xml b/nav2_msgs/package.xml
@@ -7,7 +7,7 @@
   <maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
   <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>
   <maintainer email="carlos.a.orduno@intel.com">Carlos Orduno</maintainer>
-  <license>Apache License 2.0</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <build_depend>nav2_common</build_depend>

diff --git a/nav2_navfn_planner/package.xml b/nav2_navfn_planner/package.xml
@@ -6,7 +6,8 @@
   <description>TODO</description>
   <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>
   <maintainer email="carlos.a.orduno@intel.com">Carlos Orduno</maintainer>
-  <license>Apache License 2.0</license>
+  <license>Apache-2.0</license>
+  <license>BSD-3-Clause</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 

diff --git a/nav2_recoveries/package.xml b/nav2_recoveries/package.xml
@@ -6,7 +6,7 @@
   <description>TODO</description>
   <maintainer email="carlos.a.orduno@intel.com">Carlos Orduno</maintainer>
   <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>
-  <license>Apache License 2.0</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <build_depend>nav2_common</build_depend>

diff --git a/nav2_rviz_plugins/package.xml b/nav2_rviz_plugins/package.xml
@@ -5,7 +5,7 @@
   <version>0.2.2</version>
   <description>Navigation 2 plugins for rviz</description>
   <maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
-  <license>Apache License 2.0</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <build_depend>qtbase5-dev</build_depend>

diff --git a/nav2_system_tests/package.xml b/nav2_system_tests/package.xml
@@ -5,7 +5,7 @@
   <version>0.2.2</version>
   <description>TODO</description>
   <maintainer email="carlos.a.orduno@intel.com">Carlos Orduno</maintainer>
-  <license>Apache License 2.0</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <build_depend>nav2_common</build_depend>

diff --git a/nav2_util/package.xml b/nav2_util/package.xml
@@ -6,7 +6,8 @@
   <description>TODO</description>
   <maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
   <maintainer email="mohammad.haghighipanah@intel.com">Mohammad Haghighipanah</maintainer>
-  <license>Apache License 2.0</license>
+  <license>Apache-2.0</license>
+  <license>BSD-3-Clause</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <depend>nav2_common</depend>

diff --git a/nav2_voxel_grid/package.xml b/nav2_voxel_grid/package.xml
@@ -7,7 +7,7 @@
       voxel_grid provides an implementation of an efficient 3D voxel grid. The occupancy grid can support 3 different representations for the state of a cell: marked, free, or unknown. Due to the underlying implementation relying on bitwise and and or integer operations, the voxel grid only supports 16 different levels per voxel column. However, this limitation yields raytracing and cell marking performance in the grid comparable to standard 2D structures making it quite fast compared to most 3D structures.
   </description>
   <maintainer email="carl.r.delsey@intel.com">Carl Delsey</maintainer>
-  <license>BSD</license>
+  <license>BSD-3-Clause</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <build_depend>nav2_common</build_depend>

diff --git a/nav2_world_model/package.xml b/nav2_world_model/package.xml
@@ -5,7 +5,7 @@
   <version>0.2.2</version>
   <description>TODO</description>
   <maintainer email="brian.wilcox@intel.com">Brian Wilcox</maintainer>
-  <license>Apache License 2.0</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 

diff --git a/navigation2/package.xml b/navigation2/package.xml
@@ -8,7 +8,7 @@
   </description>
   <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>
   <maintainer email="carl.r.delsey@intel.com">Carl Delsey</maintainer>
-  <license>Apache License 2.0</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>