Clarify Licensing throughout the repo (#1080)

* Add proper SPDX license IDs and repo LICENSE file

* Fixing a minor linter typo

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.

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_

nav2_amcl/package.xml

@@ -18,7 +18,7 @@
   <!-- <author>Brian P. Gerkey</author>
   <author>[email protected]</author> -->
   <maintainer email="[email protected]">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>

nav2_behavior_tree/package.xml

@@ -7,7 +7,7 @@
   <maintainer email="[email protected]">Michael Jeronimo</maintainer>
   <maintainer email="[email protected]">Carlos Orduno</maintainer>
   <maintainer email="[email protected]">Carlos Orduno</maintainer>
-  <license>Apache License 2.0</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 

nav2_bringup/package.xml

@@ -6,7 +6,7 @@
   <description>Bringup scripts and configurations for the navigation2 stack</description>
   <maintainer email="[email protected]">Michael Jeronimo</maintainer>
   <maintainer email="[email protected]">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>

nav2_bt_navigator/package.xml

@@ -5,7 +5,7 @@
   <version>0.2.2</version>
   <description>TODO</description>
   <maintainer email="[email protected]">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>

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="[email protected]">Carl Delsey</maintainer>
-  <license>Apache License 2.0</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake_core</buildtool_depend>
 

nav2_costmap_2d/package.xml

@@ -13,7 +13,8 @@
     and configuration of sensor topics.
   </description>
   <maintainer email="[email protected]">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>

nav2_dwb_controller/costmap_queue/package.xml

@@ -4,7 +4,7 @@
   <version>0.2.2</version>
   <description>The costmap_queue package</description>
   <maintainer email="[email protected]">David V. Lu!!</maintainer>
-  <license>BSD</license>
+  <license>BSD-3-Clause</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <build_depend>nav2_common</build_depend>

nav2_dwb_controller/dwb_controller/package.xml

@@ -5,7 +5,7 @@
   <version>0.2.2</version>
   <description>TODO</description>
   <maintainer email="[email protected]">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>

nav2_dwb_controller/dwb_core/package.xml

@@ -5,7 +5,7 @@
   <version>0.2.2</version>
   <description>TODO</description>
   <maintainer email="[email protected]">Carl Delsey</maintainer>
-  <license>BSD</license>
+  <license>BSD-3-Clause</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <build_depend>nav2_common</build_depend>

nav2_dwb_controller/dwb_critics/package.xml

@@ -4,7 +4,7 @@
   <version>0.2.2</version>
   <description>The dwb_critics package</description>
   <maintainer email="[email protected]">David V. Lu!!</maintainer>
-  <license>BSD</license>
+  <license>BSD-3-Clause</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <build_depend>nav2_common</build_depend>

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="[email protected]">David V. Lu!!</maintainer>
-  <license>BSD</license>
+  <license>BSD-3-Clause</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 

nav2_dwb_controller/dwb_plugins/package.xml

@@ -7,7 +7,7 @@
       and TrajectoryGenerators for dwb_core
   </description>
   <maintainer email="[email protected]">David V. Lu!!</maintainer>
-  <license>BSD</license>
+  <license>BSD-3-Clause</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <build_depend>nav2_common</build_depend>

nav2_dwb_controller/nav2_dwb_controller/package.xml

@@ -8,7 +8,7 @@
   </description>
   <maintainer email="[email protected]">Carl Delsey</maintainer>
   <maintainer email="[email protected]">Steve Macenski</maintainer>
-  <license>Apache License 2.0</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 

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="[email protected]">David V. Lu!!</maintainer>
-  <license>BSD</license>
+  <license>BSD-3-Clause</license>
 
   <build_export_depend>rosidl_default_runtime</build_export_depend>
 

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="[email protected]">David V. Lu!!</maintainer>
-  <license>BSD</license>
+  <license>BSD-3-Clause</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <build_depend>nav2_common</build_depend>

nav2_dynamic_params/package.xml

@@ -9,7 +9,7 @@
     convenience functions for event callbacks are also provided
   </description>
   <maintainer email="[email protected]">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>

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="[email protected]">Michael Jeronimo</maintainer>
-  <license>Apache License 2.0</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 

nav2_map_server/package.xml

@@ -7,7 +7,8 @@
     Refactored map server for ROS2 Navigation
   </description>
   <maintainer email="[email protected]">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>
 

nav2_msgs/package.xml

@@ -7,7 +7,7 @@
   <maintainer email="[email protected]">Michael Jeronimo</maintainer>
   <maintainer email="[email protected]">Steve Macenski</maintainer>
   <maintainer email="[email protected]">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>

nav2_navfn_planner/package.xml

@@ -6,7 +6,8 @@
   <description>TODO</description>
   <maintainer email="[email protected]">Steve Macenski</maintainer>
   <maintainer email="[email protected]">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>
 

nav2_recoveries/package.xml

@@ -6,7 +6,7 @@
   <description>TODO</description>
   <maintainer email="[email protected]">Carlos Orduno</maintainer>
   <maintainer email="[email protected]">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>

nav2_rviz_plugins/package.xml

@@ -5,7 +5,7 @@
   <version>0.2.2</version>
   <description>Navigation 2 plugins for rviz</description>
   <maintainer email="[email protected]">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>

nav2_system_tests/package.xml

@@ -5,7 +5,7 @@
   <version>0.2.2</version>
   <description>TODO</description>
   <maintainer email="[email protected]">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>

nav2_util/package.xml

@@ -6,7 +6,8 @@
   <description>TODO</description>
   <maintainer email="[email protected]">Michael Jeronimo</maintainer>
   <maintainer email="[email protected]">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>

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="[email protected]">Carl Delsey</maintainer>
-  <license>BSD</license>
+  <license>BSD-3-Clause</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <build_depend>nav2_common</build_depend>

nav2_world_model/package.xml

@@ -5,7 +5,7 @@
   <version>0.2.2</version>
   <description>TODO</description>
   <maintainer email="[email protected]">Brian Wilcox</maintainer>
-  <license>Apache License 2.0</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 

navigation2/package.xml

@@ -8,7 +8,7 @@
   </description>
   <maintainer email="[email protected]">Steve Macenski</maintainer>
   <maintainer email="[email protected]">Carl Delsey</maintainer>
-  <license>Apache License 2.0</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>