diff --git a/LICENSE b/LICENSE
index f288702d..261eeb9e 100644
--- a/LICENSE
+++ b/LICENSE
@@ -1,674 +1,201 @@
-                    GNU GENERAL PUBLIC LICENSE
-                       Version 3, 29 June 2007
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+      by You to the Licensor shall be under the terms and conditions of
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+
+   APPENDIX: How to apply the Apache License to your work.
+
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+   you may not use this file except in compliance with the License.
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+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
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+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.
diff --git a/README.md b/README.md
index 1f2c8957..7bd235b8 100644
--- a/README.md
+++ b/README.md
@@ -65,5 +65,5 @@ Localization plugins based on different map types and sensors.
 ---
 
 ## License
-All packages in this repository are released under **GPL-3.0-only** unless stated otherwise in the individual package.
+All packages in this repository are released under **Apache-2.0** unless stated otherwise in the individual package.
 
diff --git a/common/easynav_costmap_common/package.xml b/common/easynav_costmap_common/package.xml
index 55db3489..7f3c271f 100644
--- a/common/easynav_costmap_common/package.xml
+++ b/common/easynav_costmap_common/package.xml
@@ -11,7 +11,7 @@
   <maintainer email="juan.cely@urjc.es">Juan Sebastián Cely Gutiérrez</maintainer>
   <maintainer email="josemiguel.guerrero@urjc.es">José Miguel Guerrero Hernández</maintainer>
 
-  <license>GPL-3.0-only</license>
+  <license>Apache-2.0</license>
 
   <author email="fmrico@gmail.com">Francisco Martín Rico</author>
   <author email="franciscom.moreno@urjc.es">Francisco Miguel Moreno Olivo</author>
diff --git a/common/easynav_costmap_common/tests/costmap_2d_tests.cpp b/common/easynav_costmap_common/tests/costmap_2d_tests.cpp
index 70e969d9..fb54a770 100644
--- a/common/easynav_costmap_common/tests/costmap_2d_tests.cpp
+++ b/common/easynav_costmap_common/tests/costmap_2d_tests.cpp
@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 #include <gtest/gtest.h>
 #include "easynav_costmap_common/costmap_2d.hpp"
diff --git a/common/easynav_simple_common/include/easynav_simple_common/SimpleMap.hpp b/common/easynav_simple_common/include/easynav_simple_common/SimpleMap.hpp
index 331a820c..18bbeda8 100644
--- a/common/easynav_simple_common/include/easynav_simple_common/SimpleMap.hpp
+++ b/common/easynav_simple_common/include/easynav_simple_common/SimpleMap.hpp
@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 /// \file
 /// \brief Declaration of the SimpleMap type.
diff --git a/common/easynav_simple_common/package.xml b/common/easynav_simple_common/package.xml
index 63b5bae1..38ac4fb7 100644
--- a/common/easynav_simple_common/package.xml
+++ b/common/easynav_simple_common/package.xml
@@ -5,7 +5,7 @@
   <version>0.0.2</version>
   <description>Easy Navigation: Simple Common package.</description>
   <maintainer email="fmrico@gmail.com">Francisco Martín Rico</maintainer>
-  <license>GPL-3.0-only</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
diff --git a/common/easynav_simple_common/src/easynav_simple_common/SimpleMap.cpp b/common/easynav_simple_common/src/easynav_simple_common/SimpleMap.cpp
index e469b9c1..60dd00b6 100644
--- a/common/easynav_simple_common/src/easynav_simple_common/SimpleMap.cpp
+++ b/common/easynav_simple_common/src/easynav_simple_common/SimpleMap.cpp
@@ -1,22 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
-
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 #include <algorithm>
 #include <cmath>
diff --git a/common/easynav_simple_common/tests/simple_maps_tests.cpp b/common/easynav_simple_common/tests/simple_maps_tests.cpp
index d3f97cb6..3fb30fae 100644
--- a/common/easynav_simple_common/tests/simple_maps_tests.cpp
+++ b/common/easynav_simple_common/tests/simple_maps_tests.cpp
@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 #include <gtest/gtest.h>
 
diff --git a/controllers/easynav_mppi_controller/README.md b/controllers/easynav_mppi_controller/README.md
index 655e8568..6a0fb1c4 100644
--- a/controllers/easynav_mppi_controller/README.md
+++ b/controllers/easynav_mppi_controller/README.md
@@ -67,4 +67,4 @@ This package does not create service servers or clients.
 This controller does not explicitly publish or require TF frames in code.
 
 ## License
-GPL-3.0-only
+Apache-2.0
diff --git a/controllers/easynav_mppi_controller/include/easynav_mppi_controller/MPPIController.hpp b/controllers/easynav_mppi_controller/include/easynav_mppi_controller/MPPIController.hpp
index ac53bfe2..10ff99ed 100644
--- a/controllers/easynav_mppi_controller/include/easynav_mppi_controller/MPPIController.hpp
+++ b/controllers/easynav_mppi_controller/include/easynav_mppi_controller/MPPIController.hpp
@@ -1,8 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 #ifndef EASYNAV_MPPI_CONTROLLER__MPPICONTROLLER_HPP_
 #define EASYNAV_MPPI_CONTROLLER__MPPICONTROLLER_HPP_
diff --git a/controllers/easynav_mppi_controller/include/easynav_mppi_controller/MPPIOptimizer.hpp b/controllers/easynav_mppi_controller/include/easynav_mppi_controller/MPPIOptimizer.hpp
index ba9ba858..d900e166 100644
--- a/controllers/easynav_mppi_controller/include/easynav_mppi_controller/MPPIOptimizer.hpp
+++ b/controllers/easynav_mppi_controller/include/easynav_mppi_controller/MPPIOptimizer.hpp
@@ -1,8 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 // #pragma once
 #ifndef EASYNAV_MPPI_CONTROLLER__MPPIOPTIMIZER_HPP_
diff --git a/controllers/easynav_mppi_controller/package.xml b/controllers/easynav_mppi_controller/package.xml
index 7e9ee33a..2eb46252 100644
--- a/controllers/easynav_mppi_controller/package.xml
+++ b/controllers/easynav_mppi_controller/package.xml
@@ -5,7 +5,7 @@
   <version>0.0.2</version>
   <description>Easy Navigation: MPPI Controller package.</description>
   <maintainer email="josemiguel.guerrero@urjc.es">Jose Miguel Guerrero Hernandez</maintainer>
-  <license>GPL-3.0-only</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
diff --git a/controllers/easynav_mppi_controller/src/easynav_mppi_controller/MPPIController.cpp b/controllers/easynav_mppi_controller/src/easynav_mppi_controller/MPPIController.cpp
index 42d45c38..cb8121a3 100644
--- a/controllers/easynav_mppi_controller/src/easynav_mppi_controller/MPPIController.cpp
+++ b/controllers/easynav_mppi_controller/src/easynav_mppi_controller/MPPIController.cpp
@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 /// \file
 /// \brief Implementation of the MPPIController class.
diff --git a/controllers/easynav_serest_controller/README.md b/controllers/easynav_serest_controller/README.md
index f5d6fa49..f856e38a 100644
--- a/controllers/easynav_serest_controller/README.md
+++ b/controllers/easynav_serest_controller/README.md
@@ -105,4 +105,4 @@ This package does not create service servers or clients.
 This controller reads pose from `nav_msgs/Odometry` (NavState key `robot_pose`). TF is not directly used in this plugin.
 
 ## License
-GPL-3.0-only
+Apache-2.0
diff --git a/controllers/easynav_serest_controller/include/easynav_serest_controller/SerestController.hpp b/controllers/easynav_serest_controller/include/easynav_serest_controller/SerestController.hpp
index 9a22d258..0b9d6896 100644
--- a/controllers/easynav_serest_controller/include/easynav_serest_controller/SerestController.hpp
+++ b/controllers/easynav_serest_controller/include/easynav_serest_controller/SerestController.hpp
@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 #ifndef EASYNAV_SEREST_CONTROLLER__SERESTCONTROLLER_HPP_
 #define EASYNAV_SEREST_CONTROLLER__SERESTCONTROLLER_HPP_
diff --git a/controllers/easynav_serest_controller/package.xml b/controllers/easynav_serest_controller/package.xml
index 0e39b126..b7030184 100644
--- a/controllers/easynav_serest_controller/package.xml
+++ b/controllers/easynav_serest_controller/package.xml
@@ -5,7 +5,7 @@
   <version>0.0.2</version>
   <description>Easy Navigation: SeReST Controller package.</description>
   <maintainer email="fmrico@gmail.com">Francisco Martín Rico</maintainer>
-  <license>GPL-3.0-only</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
diff --git a/controllers/easynav_serest_controller/src/easynav_serest_controller/SerestController.cpp b/controllers/easynav_serest_controller/src/easynav_serest_controller/SerestController.cpp
index 669a2d2d..f349d634 100644
--- a/controllers/easynav_serest_controller/src/easynav_serest_controller/SerestController.cpp
+++ b/controllers/easynav_serest_controller/src/easynav_serest_controller/SerestController.cpp
@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 /// \file
 /// \brief Implementation of the SimpleController class.
diff --git a/controllers/easynav_simple_controller/README.md b/controllers/easynav_simple_controller/README.md
index c01e2eb2..8c802d07 100644
--- a/controllers/easynav_simple_controller/README.md
+++ b/controllers/easynav_simple_controller/README.md
@@ -62,4 +62,4 @@ The controller itself does not create ROS publishers/subscribers or service serv
 This controller reads pose from `nav_msgs/Odometry` (NavState key `robot_pose`). TF is not directly used in this plugin.
 
 ## License
-GPL-3.0-only
\ No newline at end of file
+Apache-2.0
\ No newline at end of file
diff --git a/controllers/easynav_simple_controller/include/easynav_simple_controller/SimpleController.hpp b/controllers/easynav_simple_controller/include/easynav_simple_controller/SimpleController.hpp
index e4cb072b..87cccfab 100644
--- a/controllers/easynav_simple_controller/include/easynav_simple_controller/SimpleController.hpp
+++ b/controllers/easynav_simple_controller/include/easynav_simple_controller/SimpleController.hpp
@@ -1,8 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 #ifndef EASYNAV_SIMPLE_CONTROLLER__SIMPLECONTROLLER_HPP_
 #define EASYNAV_SIMPLE_CONTROLLER__SIMPLECONTROLLER_HPP_
diff --git a/controllers/easynav_simple_controller/package.xml b/controllers/easynav_simple_controller/package.xml
index 1ed295db..53f1d695 100644
--- a/controllers/easynav_simple_controller/package.xml
+++ b/controllers/easynav_simple_controller/package.xml
@@ -5,7 +5,7 @@
   <version>0.0.2</version>
   <description>Easy Navigation: Simple Controller package.</description>
   <maintainer email="fmrico@gmail.com">Francisco Martín Rico</maintainer>
-  <license>GPL-3.0-only</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
diff --git a/controllers/easynav_simple_controller/src/easynav_simple_controller/SimpleController.cpp b/controllers/easynav_simple_controller/src/easynav_simple_controller/SimpleController.cpp
index 95c8811a..2675d289 100644
--- a/controllers/easynav_simple_controller/src/easynav_simple_controller/SimpleController.cpp
+++ b/controllers/easynav_simple_controller/src/easynav_simple_controller/SimpleController.cpp
@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 /// \file
 /// \brief Implementation of the SimpleController class.
diff --git a/controllers/easynav_simple_controller/tests/simple_controller_tests.cpp b/controllers/easynav_simple_controller/tests/simple_controller_tests.cpp
index af52d97e..3ca6ce9d 100644
--- a/controllers/easynav_simple_controller/tests/simple_controller_tests.cpp
+++ b/controllers/easynav_simple_controller/tests/simple_controller_tests.cpp
@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 #include <gtest/gtest.h>
 
diff --git a/controllers/easynav_vff_controller/README.md b/controllers/easynav_vff_controller/README.md
index ab2314ce..66ba08ad 100644
--- a/controllers/easynav_vff_controller/README.md
+++ b/controllers/easynav_vff_controller/README.md
@@ -25,4 +25,4 @@ Easy Navigation: VFF Controller package.
 
 
 ## License
-GPL-3.0-only
+Apache-2.0
diff --git a/controllers/easynav_vff_controller/include/easynav_vff_controller/VffController.hpp b/controllers/easynav_vff_controller/include/easynav_vff_controller/VffController.hpp
index 3c206053..b6ffbdb3 100644
--- a/controllers/easynav_vff_controller/include/easynav_vff_controller/VffController.hpp
+++ b/controllers/easynav_vff_controller/include/easynav_vff_controller/VffController.hpp
@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 /// \file
 /// \brief Declaration of the VffController method.
diff --git a/controllers/easynav_vff_controller/package.xml b/controllers/easynav_vff_controller/package.xml
index bf826f5e..07b23911 100644
--- a/controllers/easynav_vff_controller/package.xml
+++ b/controllers/easynav_vff_controller/package.xml
@@ -5,7 +5,7 @@
   <version>0.0.2</version>
   <description>Easy Navigation: VFF Controller package.</description>
   <maintainer email="josemiguel.guerrero@urjc.es">Jose Miguel Guerrero Hernandez</maintainer>
-  <license>GPL-3.0-only</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
diff --git a/controllers/easynav_vff_controller/src/easynav_vff_controller/VffController.cpp b/controllers/easynav_vff_controller/src/easynav_vff_controller/VffController.cpp
index 9557a177..a7e293a2 100644
--- a/controllers/easynav_vff_controller/src/easynav_vff_controller/VffController.cpp
+++ b/controllers/easynav_vff_controller/src/easynav_vff_controller/VffController.cpp
@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 /// \file
 /// \brief Implementation of the VffController class.
diff --git a/localizers/easynav_costmap_localizer/README.md b/localizers/easynav_costmap_localizer/README.md
index 8d3ae420..3b567b43 100644
--- a/localizers/easynav_costmap_localizer/README.md
+++ b/localizers/easynav_costmap_localizer/README.md
@@ -70,4 +70,4 @@ This package does not create service servers or clients.
 
 
 ## License
-GPL-3.0-only
+Apache-2.0
diff --git a/localizers/easynav_costmap_localizer/include/easynav_costmap_localizer/AMCLLocalizer.hpp b/localizers/easynav_costmap_localizer/include/easynav_costmap_localizer/AMCLLocalizer.hpp
index 19b81a81..3c1d8492 100644
--- a/localizers/easynav_costmap_localizer/include/easynav_costmap_localizer/AMCLLocalizer.hpp
+++ b/localizers/easynav_costmap_localizer/include/easynav_costmap_localizer/AMCLLocalizer.hpp
@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 /// \file
 /// \brief Declaration of the AMCLLocalizer method.
diff --git a/localizers/easynav_costmap_localizer/package.xml b/localizers/easynav_costmap_localizer/package.xml
index fbd2abd3..a8d85e0b 100644
--- a/localizers/easynav_costmap_localizer/package.xml
+++ b/localizers/easynav_costmap_localizer/package.xml
@@ -5,7 +5,7 @@
   <version>0.0.2</version>
   <description>Easy Navigation: Costmap Localizer package.</description>
   <maintainer email="fmrico@gmail.com">Francisco Martín Rico</maintainer>
-  <license>GPL-3.0-only</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
diff --git a/localizers/easynav_costmap_localizer/src/easynav_costmap_localizer/AMCLLocalizer.cpp b/localizers/easynav_costmap_localizer/src/easynav_costmap_localizer/AMCLLocalizer.cpp
index 912b94a2..f21ef8a0 100644
--- a/localizers/easynav_costmap_localizer/src/easynav_costmap_localizer/AMCLLocalizer.cpp
+++ b/localizers/easynav_costmap_localizer/src/easynav_costmap_localizer/AMCLLocalizer.cpp
@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 /// \file
 /// \brief Implementation of the AMCLLocalizer class using Costmap2D.
diff --git a/localizers/easynav_costmap_localizer/tests/costmap_localizer_tests.cpp b/localizers/easynav_costmap_localizer/tests/costmap_localizer_tests.cpp
index 9b2fe4fc..bc03cbe6 100644
--- a/localizers/easynav_costmap_localizer/tests/costmap_localizer_tests.cpp
+++ b/localizers/easynav_costmap_localizer/tests/costmap_localizer_tests.cpp
@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 #include <gtest/gtest.h>
 
diff --git a/localizers/easynav_gps_localizer/README.md b/localizers/easynav_gps_localizer/README.md
index a989cfa3..4e535393 100644
--- a/localizers/easynav_gps_localizer/README.md
+++ b/localizers/easynav_gps_localizer/README.md
@@ -52,4 +52,4 @@ This package does not create service servers or clients.
 
 
 ## License
-GPL-3.0-only
+Apache-2.0
diff --git a/localizers/easynav_gps_localizer/include/easynav_gps_localizer/GpsLocalizer.hpp b/localizers/easynav_gps_localizer/include/easynav_gps_localizer/GpsLocalizer.hpp
index 4085b448..3cd9c426 100644
--- a/localizers/easynav_gps_localizer/include/easynav_gps_localizer/GpsLocalizer.hpp
+++ b/localizers/easynav_gps_localizer/include/easynav_gps_localizer/GpsLocalizer.hpp
@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 /// \file
 /// \brief Declaration of the GpsLocalizer class, a default plugin implementation for localization.
diff --git a/localizers/easynav_gps_localizer/package.xml b/localizers/easynav_gps_localizer/package.xml
index 6180c2e0..13d3d8d7 100644
--- a/localizers/easynav_gps_localizer/package.xml
+++ b/localizers/easynav_gps_localizer/package.xml
@@ -6,7 +6,7 @@
   <description>Easy Navigation: GPS Localizer package.</description>
   <maintainer email="josemiguel.guerrero@urjc.es">Jose Miguel Guerrero Hernandez</maintainer>
   
-  <license>GPL-3.0-only</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
diff --git a/localizers/easynav_gps_localizer/src/easynav_gps_localizer/GpsLocalizer.cpp b/localizers/easynav_gps_localizer/src/easynav_gps_localizer/GpsLocalizer.cpp
index a50a7161..5b77ca68 100644
--- a/localizers/easynav_gps_localizer/src/easynav_gps_localizer/GpsLocalizer.cpp
+++ b/localizers/easynav_gps_localizer/src/easynav_gps_localizer/GpsLocalizer.cpp
@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 /// \file
 /// \brief Implementation of the GpsLocalizer class.
diff --git a/localizers/easynav_navmap_localizer/README.md b/localizers/easynav_navmap_localizer/README.md
index 93ce6657..b3649a39 100644
--- a/localizers/easynav_navmap_localizer/README.md
+++ b/localizers/easynav_navmap_localizer/README.md
@@ -77,4 +77,4 @@ This package does not create service servers or clients.
 | Requires | `base_footprint -> <sensor_frame>` | Required to transform perception point clouds into the robot base frame during correction. |
 
 ## License
-GPL-3.0-only
+Apache-2.0
diff --git a/localizers/easynav_navmap_localizer/include/easynav_navmap_localizer/AMCLLocalizer.hpp b/localizers/easynav_navmap_localizer/include/easynav_navmap_localizer/AMCLLocalizer.hpp
index fbfd32a9..cd5699c0 100644
--- a/localizers/easynav_navmap_localizer/include/easynav_navmap_localizer/AMCLLocalizer.hpp
+++ b/localizers/easynav_navmap_localizer/include/easynav_navmap_localizer/AMCLLocalizer.hpp
@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 /// \file
 /// \brief Declaration of the AMCLLocalizer method.
diff --git a/localizers/easynav_navmap_localizer/include/easynav_navmap_localizer/PerceptionModel.hpp b/localizers/easynav_navmap_localizer/include/easynav_navmap_localizer/PerceptionModel.hpp
index 4089e0c5..ffd56be4 100644
--- a/localizers/easynav_navmap_localizer/include/easynav_navmap_localizer/PerceptionModel.hpp
+++ b/localizers/easynav_navmap_localizer/include/easynav_navmap_localizer/PerceptionModel.hpp
@@ -1,22 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
-
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 #ifndef EASYNAV_NAVMAP_LOCALIZER__PERCEPTIONMODEL_HPP_
 #define EASYNAV_NAVMAP_LOCALIZER__PERCEPTIONMODEL_HPP_
diff --git a/localizers/easynav_navmap_localizer/package.xml b/localizers/easynav_navmap_localizer/package.xml
index 34c0d79e..96837eff 100644
--- a/localizers/easynav_navmap_localizer/package.xml
+++ b/localizers/easynav_navmap_localizer/package.xml
@@ -5,7 +5,7 @@
   <version>0.0.2</version>
   <description>Easy Navigation: nAVmAP Localizer package.</description>
   <maintainer email="fmrico@gmail.com">Francisco Martín Rico</maintainer>
-  <license>GPL-3.0-only</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
diff --git a/localizers/easynav_navmap_localizer/src/easynav_navmap_localizer/AMCLLocalizer.cpp b/localizers/easynav_navmap_localizer/src/easynav_navmap_localizer/AMCLLocalizer.cpp
index 21ba7c46..f39a719d 100644
--- a/localizers/easynav_navmap_localizer/src/easynav_navmap_localizer/AMCLLocalizer.cpp
+++ b/localizers/easynav_navmap_localizer/src/easynav_navmap_localizer/AMCLLocalizer.cpp
@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 /// \file
 /// \brief AMCLLocalizer implementation (Bonxai + probabilistic inflation + ray casting).
diff --git a/localizers/easynav_navmap_localizer/tests/costmap_localizer_tests.cpp b/localizers/easynav_navmap_localizer/tests/costmap_localizer_tests.cpp
index a40c68e9..7e9166a0 100644
--- a/localizers/easynav_navmap_localizer/tests/costmap_localizer_tests.cpp
+++ b/localizers/easynav_navmap_localizer/tests/costmap_localizer_tests.cpp
@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 #include <gtest/gtest.h>
 
diff --git a/localizers/easynav_simple_localizer/README.md b/localizers/easynav_simple_localizer/README.md
index 04505e89..5206d84b 100644
--- a/localizers/easynav_simple_localizer/README.md
+++ b/localizers/easynav_simple_localizer/README.md
@@ -69,4 +69,4 @@ This package does not create service servers or clients.
 
 
 ## License
-GPL-3.0-only
+Apache-2.0
diff --git a/localizers/easynav_simple_localizer/include/easynav_simple_localizer/AMCLLocalizer.hpp b/localizers/easynav_simple_localizer/include/easynav_simple_localizer/AMCLLocalizer.hpp
index 22f60ab9..a3e081a8 100644
--- a/localizers/easynav_simple_localizer/include/easynav_simple_localizer/AMCLLocalizer.hpp
+++ b/localizers/easynav_simple_localizer/include/easynav_simple_localizer/AMCLLocalizer.hpp
@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 /// \file
 /// \brief Declaration of the AMCLLocalizer method.
diff --git a/localizers/easynav_simple_localizer/package.xml b/localizers/easynav_simple_localizer/package.xml
index 93492165..16d61844 100644
--- a/localizers/easynav_simple_localizer/package.xml
+++ b/localizers/easynav_simple_localizer/package.xml
@@ -5,7 +5,7 @@
   <version>0.0.2</version>
   <description>Easy Navigation: Simple Localizer package.</description>
   <maintainer email="fmrico@gmail.com">Francisco Martín Rico</maintainer>
-  <license>GPL-3.0-only</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
diff --git a/localizers/easynav_simple_localizer/src/easynav_simple_localizer/AMCLLocalizer.cpp b/localizers/easynav_simple_localizer/src/easynav_simple_localizer/AMCLLocalizer.cpp
index 32891a95..a656a6c3 100644
--- a/localizers/easynav_simple_localizer/src/easynav_simple_localizer/AMCLLocalizer.cpp
+++ b/localizers/easynav_simple_localizer/src/easynav_simple_localizer/AMCLLocalizer.cpp
@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 /// \file
 /// \brief Implementation of the AMCLLocalizer class.
diff --git a/localizers/easynav_simple_localizer/tests/simple_localizer_tests.cpp b/localizers/easynav_simple_localizer/tests/simple_localizer_tests.cpp
index abf70ba0..293a251e 100644
--- a/localizers/easynav_simple_localizer/tests/simple_localizer_tests.cpp
+++ b/localizers/easynav_simple_localizer/tests/simple_localizer_tests.cpp
@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 #include <gtest/gtest.h>
 
diff --git a/maps_managers/easynav_bonxai_maps_manager/README.md b/maps_managers/easynav_bonxai_maps_manager/README.md
index 4df2fba2..1ab03a04 100644
--- a/maps_managers/easynav_bonxai_maps_manager/README.md
+++ b/maps_managers/easynav_bonxai_maps_manager/README.md
@@ -63,4 +63,4 @@ Maps Manager that maintains a [Bonxai](https://github.com/facontidavide/Bonxai)
 
 
 ## License
-GPL-3.0-only
+Apache-2.0
diff --git a/maps_managers/easynav_bonxai_maps_manager/include/easynav_bonxai_maps_manager/BonxaiMapsManager.hpp b/maps_managers/easynav_bonxai_maps_manager/include/easynav_bonxai_maps_manager/BonxaiMapsManager.hpp
index 5d0d84c4..84ea3a24 100644
--- a/maps_managers/easynav_bonxai_maps_manager/include/easynav_bonxai_maps_manager/BonxaiMapsManager.hpp
+++ b/maps_managers/easynav_bonxai_maps_manager/include/easynav_bonxai_maps_manager/BonxaiMapsManager.hpp
@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 /// \file
 /// \brief Declaration of the BonxaiMapsManager method.
diff --git a/maps_managers/easynav_bonxai_maps_manager/package.xml b/maps_managers/easynav_bonxai_maps_manager/package.xml
index 46c75db4..1ac676b4 100644
--- a/maps_managers/easynav_bonxai_maps_manager/package.xml
+++ b/maps_managers/easynav_bonxai_maps_manager/package.xml
@@ -5,7 +5,7 @@
   <version>0.0.2</version>
   <description>Easy Navigation: Simple MapsManager package.</description>
   <maintainer email="fmrico@gmail.com">Francisco Martín Rico</maintainer>
-  <license>GPL-3.0-only</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
diff --git a/maps_managers/easynav_bonxai_maps_manager/src/easynav_bonxai_maps_manager/BonxaiMapsManager.cpp b/maps_managers/easynav_bonxai_maps_manager/src/easynav_bonxai_maps_manager/BonxaiMapsManager.cpp
index 3d34d36a..33591211 100644
--- a/maps_managers/easynav_bonxai_maps_manager/src/easynav_bonxai_maps_manager/BonxaiMapsManager.cpp
+++ b/maps_managers/easynav_bonxai_maps_manager/src/easynav_bonxai_maps_manager/BonxaiMapsManager.cpp
@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 #include <expected>
 #include <string>
diff --git a/maps_managers/easynav_costmap_maps_manager/README.md b/maps_managers/easynav_costmap_maps_manager/README.md
index e3a54d13..a14a5796 100644
--- a/maps_managers/easynav_costmap_maps_manager/README.md
+++ b/maps_managers/easynav_costmap_maps_manager/README.md
@@ -109,4 +109,4 @@ maps_manager_node:
 ---
 
 ## License
-GPL-3.0-only
+Apache-2.0
diff --git a/maps_managers/easynav_costmap_maps_manager/include/easynav_costmap_maps_manager/CostmapMapsManager.hpp b/maps_managers/easynav_costmap_maps_manager/include/easynav_costmap_maps_manager/CostmapMapsManager.hpp
index 3499a0e6..0be8847a 100644
--- a/maps_managers/easynav_costmap_maps_manager/include/easynav_costmap_maps_manager/CostmapMapsManager.hpp
+++ b/maps_managers/easynav_costmap_maps_manager/include/easynav_costmap_maps_manager/CostmapMapsManager.hpp
@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 /// \file
 /// \brief Declaration of the CostmapMapsManager method.
diff --git a/maps_managers/easynav_costmap_maps_manager/include/easynav_costmap_maps_manager/filters/CostmapFilter.hpp b/maps_managers/easynav_costmap_maps_manager/include/easynav_costmap_maps_manager/filters/CostmapFilter.hpp
index 645fde85..de983c3a 100644
--- a/maps_managers/easynav_costmap_maps_manager/include/easynav_costmap_maps_manager/filters/CostmapFilter.hpp
+++ b/maps_managers/easynav_costmap_maps_manager/include/easynav_costmap_maps_manager/filters/CostmapFilter.hpp
@@ -1,22 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
-
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 #ifndef EASYNAV_PLANNER__FILTERS__COSTMAPFILTER_HPP_
 #define EASYNAV_PLANNER__FILTERS__COSTMAPFILTER_HPP_
diff --git a/maps_managers/easynav_costmap_maps_manager/include/easynav_costmap_maps_manager/filters/ObstacleFilter.hpp b/maps_managers/easynav_costmap_maps_manager/include/easynav_costmap_maps_manager/filters/ObstacleFilter.hpp
index a73d5848..670bfb64 100644
--- a/maps_managers/easynav_costmap_maps_manager/include/easynav_costmap_maps_manager/filters/ObstacleFilter.hpp
+++ b/maps_managers/easynav_costmap_maps_manager/include/easynav_costmap_maps_manager/filters/ObstacleFilter.hpp
@@ -1,22 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
-
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 #ifndef EASYNAV_PLANNER__FILTERS__OBSTACLEFILTER_HPP_
 #define EASYNAV_PLANNER__FILTERS__OBSTACLEFILTER_HPP_
diff --git a/maps_managers/easynav_costmap_maps_manager/package.xml b/maps_managers/easynav_costmap_maps_manager/package.xml
index 186af843..6d0cd57a 100644
--- a/maps_managers/easynav_costmap_maps_manager/package.xml
+++ b/maps_managers/easynav_costmap_maps_manager/package.xml
@@ -5,7 +5,7 @@
   <version>0.0.2</version>
   <description>Easy Navigation: Simple MapsManager package.</description>
   <maintainer email="fmrico@gmail.com">Francisco Martín Rico</maintainer>
-  <license>GPL-3.0-only</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
diff --git a/maps_managers/easynav_costmap_maps_manager/src/easynav_costmap_maps_manager/CostmapMapsManager.cpp b/maps_managers/easynav_costmap_maps_manager/src/easynav_costmap_maps_manager/CostmapMapsManager.cpp
index 229f4e43..bd7d2e4a 100644
--- a/maps_managers/easynav_costmap_maps_manager/src/easynav_costmap_maps_manager/CostmapMapsManager.cpp
+++ b/maps_managers/easynav_costmap_maps_manager/src/easynav_costmap_maps_manager/CostmapMapsManager.cpp
@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 #include <expected>
 #include <string>
diff --git a/maps_managers/easynav_costmap_maps_manager/src/easynav_costmap_maps_manager/filters/CostmapFilter.cpp b/maps_managers/easynav_costmap_maps_manager/src/easynav_costmap_maps_manager/filters/CostmapFilter.cpp
index cfb320ec..f4108b72 100644
--- a/maps_managers/easynav_costmap_maps_manager/src/easynav_costmap_maps_manager/filters/CostmapFilter.cpp
+++ b/maps_managers/easynav_costmap_maps_manager/src/easynav_costmap_maps_manager/filters/CostmapFilter.cpp
@@ -1,22 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
-
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 #include <expected>
 #include <string>
diff --git a/maps_managers/easynav_costmap_maps_manager/src/easynav_costmap_maps_manager/filters/ObstacleFilter.cpp b/maps_managers/easynav_costmap_maps_manager/src/easynav_costmap_maps_manager/filters/ObstacleFilter.cpp
index f6623a47..f938718c 100644
--- a/maps_managers/easynav_costmap_maps_manager/src/easynav_costmap_maps_manager/filters/ObstacleFilter.cpp
+++ b/maps_managers/easynav_costmap_maps_manager/src/easynav_costmap_maps_manager/filters/ObstacleFilter.cpp
@@ -1,22 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
-
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 #include <expected>
 #include <string>
diff --git a/maps_managers/easynav_costmap_maps_manager/tests/costmap_mapsmanager_tests.cpp b/maps_managers/easynav_costmap_maps_manager/tests/costmap_mapsmanager_tests.cpp
index 398e5f63..fd1072d6 100644
--- a/maps_managers/easynav_costmap_maps_manager/tests/costmap_mapsmanager_tests.cpp
+++ b/maps_managers/easynav_costmap_maps_manager/tests/costmap_mapsmanager_tests.cpp
@@ -1,8 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 #include <gtest/gtest.h>
 
diff --git a/maps_managers/easynav_navmap_maps_manager/README.md b/maps_managers/easynav_navmap_maps_manager/README.md
index 1f7ce673..5091d3e3 100644
--- a/maps_managers/easynav_navmap_maps_manager/README.md
+++ b/maps_managers/easynav_navmap_maps_manager/README.md
@@ -63,4 +63,4 @@ All parameters are declared under the plugin namespace, i.e., `/<node_fqn>/easyn
 
 
 ## License
-GPL-3.0-only
+Apache-2.0
diff --git a/maps_managers/easynav_navmap_maps_manager/include/easynav_navmap_maps_manager/NavMapMapsManager.hpp b/maps_managers/easynav_navmap_maps_manager/include/easynav_navmap_maps_manager/NavMapMapsManager.hpp
index c64609bf..105c5cb7 100644
--- a/maps_managers/easynav_navmap_maps_manager/include/easynav_navmap_maps_manager/NavMapMapsManager.hpp
+++ b/maps_managers/easynav_navmap_maps_manager/include/easynav_navmap_maps_manager/NavMapMapsManager.hpp
@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 /// \file
 /// \brief Declaration of the NavMapMapsManager method.
diff --git a/maps_managers/easynav_navmap_maps_manager/include/easynav_navmap_maps_manager/filters/InflationFilter.hpp b/maps_managers/easynav_navmap_maps_manager/include/easynav_navmap_maps_manager/filters/InflationFilter.hpp
index 39881849..3d6c1a16 100644
--- a/maps_managers/easynav_navmap_maps_manager/include/easynav_navmap_maps_manager/filters/InflationFilter.hpp
+++ b/maps_managers/easynav_navmap_maps_manager/include/easynav_navmap_maps_manager/filters/InflationFilter.hpp
@@ -1,22 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
-
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 #ifndef EASYNAV_NAVMAP_MAPS_MANAGER__FILTERS__INFLATIONFILTER_HPP_
 #define EASYNAV_NAVMAP_MAPS_MANAGER__FILTERS__INFLATIONFILTER_HPP_
diff --git a/maps_managers/easynav_navmap_maps_manager/include/easynav_navmap_maps_manager/filters/NavMapFilter.hpp b/maps_managers/easynav_navmap_maps_manager/include/easynav_navmap_maps_manager/filters/NavMapFilter.hpp
index 7c57c536..f9bb0330 100644
--- a/maps_managers/easynav_navmap_maps_manager/include/easynav_navmap_maps_manager/filters/NavMapFilter.hpp
+++ b/maps_managers/easynav_navmap_maps_manager/include/easynav_navmap_maps_manager/filters/NavMapFilter.hpp
@@ -1,22 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
-
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 #ifndef EASYNAV_PLANNER__FILTERS__NAVMAPFILTER_HPP_
 #define EASYNAV_PLANNER__FILTERS__NAVMAPFILTER_HPP_
diff --git a/maps_managers/easynav_navmap_maps_manager/include/easynav_navmap_maps_manager/filters/ObstacleFilter.hpp b/maps_managers/easynav_navmap_maps_manager/include/easynav_navmap_maps_manager/filters/ObstacleFilter.hpp
index ebbd3eb4..ce9eae12 100644
--- a/maps_managers/easynav_navmap_maps_manager/include/easynav_navmap_maps_manager/filters/ObstacleFilter.hpp
+++ b/maps_managers/easynav_navmap_maps_manager/include/easynav_navmap_maps_manager/filters/ObstacleFilter.hpp
@@ -1,22 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
-
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 #ifndef EASYNAV_NAVMAP_MAPS_MANAGER__OBSTACLEFILTER_HPP_
 #define EASYNAV_NAVMAP_MAPS_MANAGER__OBSTACLEFILTER_HPP_
diff --git a/maps_managers/easynav_navmap_maps_manager/package.xml b/maps_managers/easynav_navmap_maps_manager/package.xml
index 6951d89d..6b29d112 100644
--- a/maps_managers/easynav_navmap_maps_manager/package.xml
+++ b/maps_managers/easynav_navmap_maps_manager/package.xml
@@ -5,7 +5,7 @@
   <version>0.0.2</version>
   <description>Easy Navigation: Simple MapsManager package.</description>
   <maintainer email="fmrico@gmail.com">Francisco Martín Rico</maintainer>
-  <license>GPL-3.0-only</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
diff --git a/maps_managers/easynav_navmap_maps_manager/src/easynav_navmap_maps_manager/NavMapMapsManager.cpp b/maps_managers/easynav_navmap_maps_manager/src/easynav_navmap_maps_manager/NavMapMapsManager.cpp
index c94e4223..eecbe2b0 100644
--- a/maps_managers/easynav_navmap_maps_manager/src/easynav_navmap_maps_manager/NavMapMapsManager.cpp
+++ b/maps_managers/easynav_navmap_maps_manager/src/easynav_navmap_maps_manager/NavMapMapsManager.cpp
@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 #include <expected>
 #include <string>
diff --git a/maps_managers/easynav_navmap_maps_manager/src/easynav_navmap_maps_manager/filters/NavMapFilter.cpp b/maps_managers/easynav_navmap_maps_manager/src/easynav_navmap_maps_manager/filters/NavMapFilter.cpp
index a850edd7..7fbe2e6d 100644
--- a/maps_managers/easynav_navmap_maps_manager/src/easynav_navmap_maps_manager/filters/NavMapFilter.cpp
+++ b/maps_managers/easynav_navmap_maps_manager/src/easynav_navmap_maps_manager/filters/NavMapFilter.cpp
@@ -1,22 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
-
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 #include <expected>
 #include <string>
diff --git a/maps_managers/easynav_navmap_maps_manager/src/easynav_navmap_maps_manager/filters/ObstacleFilter.cpp b/maps_managers/easynav_navmap_maps_manager/src/easynav_navmap_maps_manager/filters/ObstacleFilter.cpp
index faec9835..c16d5443 100644
--- a/maps_managers/easynav_navmap_maps_manager/src/easynav_navmap_maps_manager/filters/ObstacleFilter.cpp
+++ b/maps_managers/easynav_navmap_maps_manager/src/easynav_navmap_maps_manager/filters/ObstacleFilter.cpp
@@ -1,22 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
-
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 #include <expected>
 #include <string>
diff --git a/maps_managers/easynav_navmap_maps_manager/tests/navmap_mapsmanager_tests.cpp b/maps_managers/easynav_navmap_maps_manager/tests/navmap_mapsmanager_tests.cpp
index c4e1438f..7e53c938 100644
--- a/maps_managers/easynav_navmap_maps_manager/tests/navmap_mapsmanager_tests.cpp
+++ b/maps_managers/easynav_navmap_maps_manager/tests/navmap_mapsmanager_tests.cpp
@@ -1,8 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 #include <gtest/gtest.h>
 
diff --git a/maps_managers/easynav_navmap_maps_manager/tests/test_utils.cpp b/maps_managers/easynav_navmap_maps_manager/tests/test_utils.cpp
index 5d17909b..4d8a53d3 100644
--- a/maps_managers/easynav_navmap_maps_manager/tests/test_utils.cpp
+++ b/maps_managers/easynav_navmap_maps_manager/tests/test_utils.cpp
@@ -1,8 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 #include <gtest/gtest.h>
 
diff --git a/maps_managers/easynav_octomap_maps_manager/README.md b/maps_managers/easynav_octomap_maps_manager/README.md
index 700ce944..94ceeaa0 100644
--- a/maps_managers/easynav_octomap_maps_manager/README.md
+++ b/maps_managers/easynav_octomap_maps_manager/README.md
@@ -100,4 +100,4 @@ maps_manager_node:
 ---
 
 ## License
-GPL-3.0-only
+Apache-2.0
diff --git a/maps_managers/easynav_octomap_maps_manager/include/easynav_octomap_maps_manager/OctomapMapsManager.hpp b/maps_managers/easynav_octomap_maps_manager/include/easynav_octomap_maps_manager/OctomapMapsManager.hpp
index 4654a14d..761e1661 100644
--- a/maps_managers/easynav_octomap_maps_manager/include/easynav_octomap_maps_manager/OctomapMapsManager.hpp
+++ b/maps_managers/easynav_octomap_maps_manager/include/easynav_octomap_maps_manager/OctomapMapsManager.hpp
@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 /// \file
 /// \brief Declaration of the OctomapMapsManager method.
diff --git a/maps_managers/easynav_octomap_maps_manager/include/easynav_octomap_maps_manager/filters/InflationFilter.hpp b/maps_managers/easynav_octomap_maps_manager/include/easynav_octomap_maps_manager/filters/InflationFilter.hpp
index a2d42a7e..9cf52f3e 100644
--- a/maps_managers/easynav_octomap_maps_manager/include/easynav_octomap_maps_manager/filters/InflationFilter.hpp
+++ b/maps_managers/easynav_octomap_maps_manager/include/easynav_octomap_maps_manager/filters/InflationFilter.hpp
@@ -1,22 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
-
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 #ifndef EASYNAV_OCTOMAP_MAPS_MANAGER__FILTERS__INFLATIONFILTER_HPP_
 #define EASYNAV_OCTOMAP_MAPS_MANAGER__FILTERS__INFLATIONFILTER_HPP_
diff --git a/maps_managers/easynav_octomap_maps_manager/include/easynav_octomap_maps_manager/filters/ObstacleFilter.hpp b/maps_managers/easynav_octomap_maps_manager/include/easynav_octomap_maps_manager/filters/ObstacleFilter.hpp
index 91d57b7f..96022771 100644
--- a/maps_managers/easynav_octomap_maps_manager/include/easynav_octomap_maps_manager/filters/ObstacleFilter.hpp
+++ b/maps_managers/easynav_octomap_maps_manager/include/easynav_octomap_maps_manager/filters/ObstacleFilter.hpp
@@ -1,22 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
-
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 #ifndef EASYNAV_OCTOMAP_MAPS_MANAGER__OBSTACLEFILTER_HPP_
 #define EASYNAV_OCTOMAP_MAPS_MANAGER__OBSTACLEFILTER_HPP_
diff --git a/maps_managers/easynav_octomap_maps_manager/include/easynav_octomap_maps_manager/filters/OctomapFilter.hpp b/maps_managers/easynav_octomap_maps_manager/include/easynav_octomap_maps_manager/filters/OctomapFilter.hpp
index fd6d4df0..0bc0ac0a 100644
--- a/maps_managers/easynav_octomap_maps_manager/include/easynav_octomap_maps_manager/filters/OctomapFilter.hpp
+++ b/maps_managers/easynav_octomap_maps_manager/include/easynav_octomap_maps_manager/filters/OctomapFilter.hpp
@@ -1,22 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
-
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 #ifndef EASYNAV_PLANNER__FILTERS__OCTOMAPFILTER_HPP_
 #define EASYNAV_PLANNER__FILTERS__OCTOMAPFILTER_HPP_
diff --git a/maps_managers/easynav_octomap_maps_manager/package.xml b/maps_managers/easynav_octomap_maps_manager/package.xml
index 002b28db..e90d59d4 100644
--- a/maps_managers/easynav_octomap_maps_manager/package.xml
+++ b/maps_managers/easynav_octomap_maps_manager/package.xml
@@ -5,7 +5,7 @@
   <version>0.0.2</version>
   <description>Easy Navigation: Simple MapsManager package.</description>
   <maintainer email="fmrico@gmail.com">Francisco Martín Rico</maintainer>
-  <license>GPL-3.0-only</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
diff --git a/maps_managers/easynav_octomap_maps_manager/src/easynav_octomap_maps_manager/OctomapMapsManager.cpp b/maps_managers/easynav_octomap_maps_manager/src/easynav_octomap_maps_manager/OctomapMapsManager.cpp
index bb2ce6d3..57fe358c 100644
--- a/maps_managers/easynav_octomap_maps_manager/src/easynav_octomap_maps_manager/OctomapMapsManager.cpp
+++ b/maps_managers/easynav_octomap_maps_manager/src/easynav_octomap_maps_manager/OctomapMapsManager.cpp
@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 #include <expected>
 #include <string>
diff --git a/maps_managers/easynav_octomap_maps_manager/src/easynav_octomap_maps_manager/filters/ObstacleFilter.cpp b/maps_managers/easynav_octomap_maps_manager/src/easynav_octomap_maps_manager/filters/ObstacleFilter.cpp
index 8d6671fc..536642d6 100644
--- a/maps_managers/easynav_octomap_maps_manager/src/easynav_octomap_maps_manager/filters/ObstacleFilter.cpp
+++ b/maps_managers/easynav_octomap_maps_manager/src/easynav_octomap_maps_manager/filters/ObstacleFilter.cpp
@@ -1,22 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
-
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 #include <expected>
 #include <string>
diff --git a/maps_managers/easynav_octomap_maps_manager/src/easynav_octomap_maps_manager/filters/OctomapFilter.cpp b/maps_managers/easynav_octomap_maps_manager/src/easynav_octomap_maps_manager/filters/OctomapFilter.cpp
index 3c732e6d..357c9502 100644
--- a/maps_managers/easynav_octomap_maps_manager/src/easynav_octomap_maps_manager/filters/OctomapFilter.cpp
+++ b/maps_managers/easynav_octomap_maps_manager/src/easynav_octomap_maps_manager/filters/OctomapFilter.cpp
@@ -1,22 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
-
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 #include <expected>
 #include <string>
diff --git a/maps_managers/easynav_simple_maps_manager/README.md b/maps_managers/easynav_simple_maps_manager/README.md
index 413125aa..76fde61a 100644
--- a/maps_managers/easynav_simple_maps_manager/README.md
+++ b/maps_managers/easynav_simple_maps_manager/README.md
@@ -59,4 +59,4 @@ At the heart of this stack is the SimpleMap data structure. It represents the en
 This manager does not broadcast TF; messages are stamped directly with their frame as provided.
 
 ## License
-GPL-3.0-only
+Apache-2.0
diff --git a/maps_managers/easynav_simple_maps_manager/include/easynav_simple_maps_manager/SimpleMapsManager.hpp b/maps_managers/easynav_simple_maps_manager/include/easynav_simple_maps_manager/SimpleMapsManager.hpp
index ff543893..61ea71e9 100644
--- a/maps_managers/easynav_simple_maps_manager/include/easynav_simple_maps_manager/SimpleMapsManager.hpp
+++ b/maps_managers/easynav_simple_maps_manager/include/easynav_simple_maps_manager/SimpleMapsManager.hpp
@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 /// \file
 /// \brief Declaration of the SimpleMapsManager method.
diff --git a/maps_managers/easynav_simple_maps_manager/package.xml b/maps_managers/easynav_simple_maps_manager/package.xml
index 15095e77..ed304e0c 100644
--- a/maps_managers/easynav_simple_maps_manager/package.xml
+++ b/maps_managers/easynav_simple_maps_manager/package.xml
@@ -5,7 +5,7 @@
   <version>0.0.2</version>
   <description>Easy Navigation: Simple MapsManager package.</description>
   <maintainer email="fmrico@gmail.com">Francisco Martín Rico</maintainer>
-  <license>GPL-3.0-only</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
diff --git a/maps_managers/easynav_simple_maps_manager/src/easynav_simple_maps_manager/SimpleMapsManager.cpp b/maps_managers/easynav_simple_maps_manager/src/easynav_simple_maps_manager/SimpleMapsManager.cpp
index ad724551..5c57568e 100644
--- a/maps_managers/easynav_simple_maps_manager/src/easynav_simple_maps_manager/SimpleMapsManager.cpp
+++ b/maps_managers/easynav_simple_maps_manager/src/easynav_simple_maps_manager/SimpleMapsManager.cpp
@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 /// \file
 /// \brief Implementation of the SimpleMapsManager class.
diff --git a/maps_managers/easynav_simple_maps_manager/tests/simple_mapsmanager_tests.cpp b/maps_managers/easynav_simple_maps_manager/tests/simple_mapsmanager_tests.cpp
index 858a99cb..a0b23b34 100644
--- a/maps_managers/easynav_simple_maps_manager/tests/simple_mapsmanager_tests.cpp
+++ b/maps_managers/easynav_simple_maps_manager/tests/simple_mapsmanager_tests.cpp
@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 #include <gtest/gtest.h>
 
diff --git a/planners/easynav_costmap_planner/README.md b/planners/easynav_costmap_planner/README.md
index fff2666f..1173ead2 100644
--- a/planners/easynav_costmap_planner/README.md
+++ b/planners/easynav_costmap_planner/README.md
@@ -66,4 +66,4 @@ This plugin does not create subscriptions or services directly; it reads inputs
 ---
 
 ## License
-GPL-3.0-only
+Apache-2.0
diff --git a/planners/easynav_costmap_planner/include/easynav_costmap_planner/CostmapPlanner.hpp b/planners/easynav_costmap_planner/include/easynav_costmap_planner/CostmapPlanner.hpp
index c1bd7aee..e79ecace 100644
--- a/planners/easynav_costmap_planner/include/easynav_costmap_planner/CostmapPlanner.hpp
+++ b/planners/easynav_costmap_planner/include/easynav_costmap_planner/CostmapPlanner.hpp
@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 /// \file
 /// \brief Declaration of the CostmapPlanner class implementing A* path planning using Costmap2D.
diff --git a/planners/easynav_costmap_planner/package.xml b/planners/easynav_costmap_planner/package.xml
index 053b985f..8d4eaa2c 100644
--- a/planners/easynav_costmap_planner/package.xml
+++ b/planners/easynav_costmap_planner/package.xml
@@ -5,7 +5,7 @@
   <version>0.0.2</version>
   <description>Easy Navigation: Costmap planner package.</description>
   <maintainer email="fmrico@gmail.com">Francisco Martín Rico</maintainer>
-  <license>GPL-3.0-only</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
diff --git a/planners/easynav_costmap_planner/src/easynav_costmap_planner/CostmapPlanner.cpp b/planners/easynav_costmap_planner/src/easynav_costmap_planner/CostmapPlanner.cpp
index 2bed8add..b5d16c58 100644
--- a/planners/easynav_costmap_planner/src/easynav_costmap_planner/CostmapPlanner.cpp
+++ b/planners/easynav_costmap_planner/src/easynav_costmap_planner/CostmapPlanner.cpp
@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 /// \file
 /// \brief Implementation of the CostmapPlanner class using A* on Costmap2D.
diff --git a/planners/easynav_navmap_planner/README.md b/planners/easynav_navmap_planner/README.md
index 58d80e1b..e0326941 100644
--- a/planners/easynav_navmap_planner/README.md
+++ b/planners/easynav_navmap_planner/README.md
@@ -56,4 +56,4 @@ This plugin does not create subscriptions or services directly; it reads inputs
 This plugin does not perform TF lookups directly; frame consistency is assumed between NavMap, robot pose, and published path.
 
 ## License
-GPL-3.0-only
+Apache-2.0
diff --git a/planners/easynav_navmap_planner/include/easynav_navmap_planner/AStarPlanner.hpp b/planners/easynav_navmap_planner/include/easynav_navmap_planner/AStarPlanner.hpp
index 09577ffc..c7bea8f4 100644
--- a/planners/easynav_navmap_planner/include/easynav_navmap_planner/AStarPlanner.hpp
+++ b/planners/easynav_navmap_planner/include/easynav_navmap_planner/AStarPlanner.hpp
@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 /// \file
 /// \brief Declaration of the AStarPlanner class implementing A* path planning using ::navmap::NavMap.
diff --git a/planners/easynav_navmap_planner/package.xml b/planners/easynav_navmap_planner/package.xml
index 3376dd9e..78db89d5 100644
--- a/planners/easynav_navmap_planner/package.xml
+++ b/planners/easynav_navmap_planner/package.xml
@@ -5,7 +5,7 @@
   <version>0.0.2</version>
   <description>Easy Navigation: navmap planner package.</description>
   <maintainer email="fmrico@gmail.com">Francisco Martín Rico</maintainer>
-  <license>GPL-3.0-only</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
diff --git a/planners/easynav_navmap_planner/src/easynav_navmap_planner/AStarPlanner.cpp b/planners/easynav_navmap_planner/src/easynav_navmap_planner/AStarPlanner.cpp
index 90a83264..bf7621d3 100644
--- a/planners/easynav_navmap_planner/src/easynav_navmap_planner/AStarPlanner.cpp
+++ b/planners/easynav_navmap_planner/src/easynav_navmap_planner/AStarPlanner.cpp
@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 /// \file
 /// \brief Implementation of the AStarPlanner class using A* on ::navmap::NavMap (triangle graph).
diff --git a/planners/easynav_simple_planner/README.md b/planners/easynav_simple_planner/README.md
index c19d8460..28a28b4e 100644
--- a/planners/easynav_simple_planner/README.md
+++ b/planners/easynav_simple_planner/README.md
@@ -54,4 +54,4 @@ This plugin does not create subscriptions or services directly; it reads inputs
 This plugin does not perform TF lookups directly; frame consistency is assumed between map, robot pose, and published path.
 
 ## License
-GPL-3.0-only
+Apache-2.0
diff --git a/planners/easynav_simple_planner/include/easynav_simple_planner/SimplePlanner.hpp b/planners/easynav_simple_planner/include/easynav_simple_planner/SimplePlanner.hpp
index 6dbb3253..b8d10d52 100644
--- a/planners/easynav_simple_planner/include/easynav_simple_planner/SimplePlanner.hpp
+++ b/planners/easynav_simple_planner/include/easynav_simple_planner/SimplePlanner.hpp
@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 /// \file
 /// \brief Declaration of the SimplePlanner class implementing A* path planning.
diff --git a/planners/easynav_simple_planner/package.xml b/planners/easynav_simple_planner/package.xml
index e092f111..f40d8b64 100644
--- a/planners/easynav_simple_planner/package.xml
+++ b/planners/easynav_simple_planner/package.xml
@@ -5,7 +5,7 @@
   <version>0.0.2</version>
   <description>Easy Navigation: Simple planner package.</description>
   <maintainer email="fmrico@gmail.com">Francisco Martín Rico</maintainer>
-  <license>GPL-3.0-only</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
diff --git a/planners/easynav_simple_planner/src/easynav_simple_planner/SimplePlanner.cpp b/planners/easynav_simple_planner/src/easynav_simple_planner/SimplePlanner.cpp
index d7ca5b8f..c35ba5d1 100644
--- a/planners/easynav_simple_planner/src/easynav_simple_planner/SimplePlanner.cpp
+++ b/planners/easynav_simple_planner/src/easynav_simple_planner/SimplePlanner.cpp
@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 #include <queue>
 #include <unordered_map>