GPLv3 -> Apache 2.0

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.
 

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>

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"

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.

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>
 

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>

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>
 

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

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_

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_

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>
 

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.

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

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_

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>
 

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.

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
+Apache-2.0

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_

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>
 

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.