diff --git a/LICENSE b/LICENSE
new file mode 100644
index 0000000000..ce2ed3dff8
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,17 @@
+Portions of this repository are available under one of the following licenses
+
+SPDX-ID:
+* LGPL-2.1-or-later
+* Apache-2.0
+* BSD-3-Clause
+* Apache-2.0 AND BSD-3-Clause
+
+Please see the package.xml file for each package to see the specific license for
+that package.
+
+Contributions to existing files should be made under the license of that file.
+New files should be made under the first license listed in the appropriate
+package.xml file
+
+For files that are not otherwise marked, they are provided under the Apache-2.0
+license.
diff --git a/nav2_amcl/include/nav2_amcl/angleutils.hpp b/nav2_amcl/include/nav2_amcl/angleutils.hpp
index a2c4dcec5d..d3f8332c5b 100644
--- a/nav2_amcl/include/nav2_amcl/angleutils.hpp
+++ b/nav2_amcl/include/nav2_amcl/angleutils.hpp
@@ -57,6 +57,6 @@ angleutils::angle_diff(double a, double b)
}
}
-} // namespace nav2_util
+} // namespace nav2_amcl
#endif // NAV2_AMCL__ANGLEUTILS_HPP_
diff --git a/nav2_amcl/package.xml b/nav2_amcl/package.xml
index 82fce1c2b7..bf6a012a36 100644
--- a/nav2_amcl/package.xml
+++ b/nav2_amcl/package.xml
@@ -18,7 +18,7 @@
Mohammad Haghighipanah
- LGPL
+ LGPL-2.1-or-later
ament_cmake
nav2_common
diff --git a/nav2_behavior_tree/package.xml b/nav2_behavior_tree/package.xml
index 22b7b2b3bf..cf68f667f2 100644
--- a/nav2_behavior_tree/package.xml
+++ b/nav2_behavior_tree/package.xml
@@ -7,7 +7,7 @@
Michael Jeronimo
Carlos Orduno
Carlos Orduno
- Apache License 2.0
+ Apache-2.0
ament_cmake
diff --git a/nav2_bringup/package.xml b/nav2_bringup/package.xml
index a816d1d175..9b863292b3 100644
--- a/nav2_bringup/package.xml
+++ b/nav2_bringup/package.xml
@@ -6,7 +6,7 @@
Bringup scripts and configurations for the navigation2 stack
Michael Jeronimo
Steve Macenski
- Apache License 2.0
+ Apache-2.0
ament_cmake
nav2_common
diff --git a/nav2_bt_navigator/package.xml b/nav2_bt_navigator/package.xml
index 7a52b8416f..524045f942 100644
--- a/nav2_bt_navigator/package.xml
+++ b/nav2_bt_navigator/package.xml
@@ -5,7 +5,7 @@
0.2.2
TODO
Michael Jeronimo
- Apache License 2.0
+ Apache-2.0
ament_cmake
nav2_common
diff --git a/nav2_common/package.xml b/nav2_common/package.xml
index d37e9096af..ce3571869e 100644
--- a/nav2_common/package.xml
+++ b/nav2_common/package.xml
@@ -5,7 +5,7 @@
0.2.2
Common support functionality used throughout the navigation 2 stack
Carl Delsey
- Apache License 2.0
+ Apache-2.0
ament_cmake_core
diff --git a/nav2_costmap_2d/package.xml b/nav2_costmap_2d/package.xml
index f94e338ffc..b3a96d4df0 100644
--- a/nav2_costmap_2d/package.xml
+++ b/nav2_costmap_2d/package.xml
@@ -13,7 +13,8 @@
and configuration of sensor topics.
Steve Macenski
- BSD
+ BSD-3-Clause
+ Apache-2.0
ament_cmake
nav2_common
diff --git a/nav2_dwb_controller/costmap_queue/package.xml b/nav2_dwb_controller/costmap_queue/package.xml
index 1bd1052010..82c616ef53 100644
--- a/nav2_dwb_controller/costmap_queue/package.xml
+++ b/nav2_dwb_controller/costmap_queue/package.xml
@@ -4,7 +4,7 @@
0.2.2
The costmap_queue package
David V. Lu!!
- BSD
+ BSD-3-Clause
ament_cmake
nav2_common
diff --git a/nav2_dwb_controller/dwb_controller/package.xml b/nav2_dwb_controller/dwb_controller/package.xml
index b150e049a0..d70def1c8a 100644
--- a/nav2_dwb_controller/dwb_controller/package.xml
+++ b/nav2_dwb_controller/dwb_controller/package.xml
@@ -5,7 +5,7 @@
0.2.2
TODO
Carl Delsey
- Apache License 2.0
+ Apache-2.0
ament_cmake
nav2_common
diff --git a/nav2_dwb_controller/dwb_core/package.xml b/nav2_dwb_controller/dwb_core/package.xml
index 01a8f60ffe..6e85a2d27c 100644
--- a/nav2_dwb_controller/dwb_core/package.xml
+++ b/nav2_dwb_controller/dwb_core/package.xml
@@ -5,7 +5,7 @@
0.2.2
TODO
Carl Delsey
- BSD
+ BSD-3-Clause
ament_cmake
nav2_common
diff --git a/nav2_dwb_controller/dwb_critics/package.xml b/nav2_dwb_controller/dwb_critics/package.xml
index 6ffd67cfb3..d9b92d65fc 100644
--- a/nav2_dwb_controller/dwb_critics/package.xml
+++ b/nav2_dwb_controller/dwb_critics/package.xml
@@ -4,7 +4,7 @@
0.2.2
The dwb_critics package
David V. Lu!!
- BSD
+ BSD-3-Clause
ament_cmake
nav2_common
diff --git a/nav2_dwb_controller/dwb_msgs/package.xml b/nav2_dwb_controller/dwb_msgs/package.xml
index 4963ac30db..f87012692d 100644
--- a/nav2_dwb_controller/dwb_msgs/package.xml
+++ b/nav2_dwb_controller/dwb_msgs/package.xml
@@ -5,7 +5,7 @@
0.2.2
Message/Service definitions specifically for the dwb_core
David V. Lu!!
- BSD
+ BSD-3-Clause
ament_cmake
diff --git a/nav2_dwb_controller/dwb_plugins/package.xml b/nav2_dwb_controller/dwb_plugins/package.xml
index 29652bfb3a..c8448c5c23 100644
--- a/nav2_dwb_controller/dwb_plugins/package.xml
+++ b/nav2_dwb_controller/dwb_plugins/package.xml
@@ -7,7 +7,7 @@
and TrajectoryGenerators for dwb_core
David V. Lu!!
- BSD
+ BSD-3-Clause
ament_cmake
nav2_common
diff --git a/nav2_dwb_controller/nav2_dwb_controller/package.xml b/nav2_dwb_controller/nav2_dwb_controller/package.xml
index 1f3b24b7d1..1f06fdf6f2 100644
--- a/nav2_dwb_controller/nav2_dwb_controller/package.xml
+++ b/nav2_dwb_controller/nav2_dwb_controller/package.xml
@@ -8,7 +8,7 @@
Carl Delsey
Steve Macenski
- Apache License 2.0
+ Apache-2.0
ament_cmake
diff --git a/nav2_dwb_controller/nav_2d_msgs/package.xml b/nav2_dwb_controller/nav_2d_msgs/package.xml
index 1ee03b9ac7..68862745e9 100644
--- a/nav2_dwb_controller/nav_2d_msgs/package.xml
+++ b/nav2_dwb_controller/nav_2d_msgs/package.xml
@@ -5,7 +5,7 @@
0.2.2
Basic message types for two dimensional navigation, extending from geometry_msgs::Pose2D.
David V. Lu!!
- BSD
+ BSD-3-Clause
rosidl_default_runtime
diff --git a/nav2_dwb_controller/nav_2d_utils/package.xml b/nav2_dwb_controller/nav_2d_utils/package.xml
index 01ae9c6add..f8b81ae199 100644
--- a/nav2_dwb_controller/nav_2d_utils/package.xml
+++ b/nav2_dwb_controller/nav_2d_utils/package.xml
@@ -5,7 +5,7 @@
0.2.2
A handful of useful utility functions for nav_2d packages.
David V. Lu!!
- BSD
+ BSD-3-Clause
ament_cmake
nav2_common
diff --git a/nav2_dynamic_params/package.xml b/nav2_dynamic_params/package.xml
index f718b6afb6..58bb845f8d 100644
--- a/nav2_dynamic_params/package.xml
+++ b/nav2_dynamic_params/package.xml
@@ -9,7 +9,7 @@
convenience functions for event callbacks are also provided
Brian Wilcox
- Apache License 2.0
+ Apache-2.0
ament_cmake
nav2_common
diff --git a/nav2_lifecycle_manager/package.xml b/nav2_lifecycle_manager/package.xml
index 7203fd8522..15da8a8c97 100644
--- a/nav2_lifecycle_manager/package.xml
+++ b/nav2_lifecycle_manager/package.xml
@@ -5,7 +5,7 @@
0.2.2
A controller/manager for the lifecycle nodes of the Navigation 2 system
Michael Jeronimo
- Apache License 2.0
+ Apache-2.0
ament_cmake
diff --git a/nav2_map_server/package.xml b/nav2_map_server/package.xml
index 59f1b2b534..7f149c95dc 100644
--- a/nav2_map_server/package.xml
+++ b/nav2_map_server/package.xml
@@ -7,7 +7,8 @@
Refactored map server for ROS2 Navigation
Brian Wilcox
- BSD License 2.0
+ Apache-2.0
+ BSD-3-Clause
ament_cmake
diff --git a/nav2_msgs/package.xml b/nav2_msgs/package.xml
index ffa3fcccd8..6114b55ece 100644
--- a/nav2_msgs/package.xml
+++ b/nav2_msgs/package.xml
@@ -7,7 +7,7 @@
Michael Jeronimo
Steve Macenski
Carlos Orduno
- Apache License 2.0
+ Apache-2.0
ament_cmake
nav2_common
diff --git a/nav2_navfn_planner/package.xml b/nav2_navfn_planner/package.xml
index a65e46a2fb..1fe70df0d9 100644
--- a/nav2_navfn_planner/package.xml
+++ b/nav2_navfn_planner/package.xml
@@ -6,7 +6,8 @@
TODO
Steve Macenski
Carlos Orduno
- Apache License 2.0
+ Apache-2.0
+ BSD-3-Clause
ament_cmake
diff --git a/nav2_recoveries/package.xml b/nav2_recoveries/package.xml
index 9000f80824..776d09ffa1 100644
--- a/nav2_recoveries/package.xml
+++ b/nav2_recoveries/package.xml
@@ -6,7 +6,7 @@
TODO
Carlos Orduno
Steve Macenski
- Apache License 2.0
+ Apache-2.0
ament_cmake
nav2_common
diff --git a/nav2_rviz_plugins/package.xml b/nav2_rviz_plugins/package.xml
index 358d75ea63..cf6d8c0739 100644
--- a/nav2_rviz_plugins/package.xml
+++ b/nav2_rviz_plugins/package.xml
@@ -5,7 +5,7 @@
0.2.2
Navigation 2 plugins for rviz
Michael Jeronimo
- Apache License 2.0
+ Apache-2.0
ament_cmake
qtbase5-dev
diff --git a/nav2_system_tests/package.xml b/nav2_system_tests/package.xml
index 2cee9db1c6..057be99784 100644
--- a/nav2_system_tests/package.xml
+++ b/nav2_system_tests/package.xml
@@ -5,7 +5,7 @@
0.2.2
TODO
Carlos Orduno
- Apache License 2.0
+ Apache-2.0
ament_cmake
nav2_common
diff --git a/nav2_util/package.xml b/nav2_util/package.xml
index 90ca9f4e5e..cca0eedb72 100644
--- a/nav2_util/package.xml
+++ b/nav2_util/package.xml
@@ -6,7 +6,8 @@
TODO
Michael Jeronimo
Mohammad Haghighipanah
- Apache License 2.0
+ Apache-2.0
+ BSD-3-Clause
ament_cmake
nav2_common
diff --git a/nav2_voxel_grid/package.xml b/nav2_voxel_grid/package.xml
index 3cd290635a..f37f3ac017 100644
--- a/nav2_voxel_grid/package.xml
+++ b/nav2_voxel_grid/package.xml
@@ -7,7 +7,7 @@
voxel_grid provides an implementation of an efficient 3D voxel grid. The occupancy grid can support 3 different representations for the state of a cell: marked, free, or unknown. Due to the underlying implementation relying on bitwise and and or integer operations, the voxel grid only supports 16 different levels per voxel column. However, this limitation yields raytracing and cell marking performance in the grid comparable to standard 2D structures making it quite fast compared to most 3D structures.
Carl Delsey
- BSD
+ BSD-3-Clause
ament_cmake
nav2_common
diff --git a/nav2_world_model/package.xml b/nav2_world_model/package.xml
index 80623769f8..fcef0c5e8e 100644
--- a/nav2_world_model/package.xml
+++ b/nav2_world_model/package.xml
@@ -5,7 +5,7 @@
0.2.2
TODO
Brian Wilcox
- Apache License 2.0
+ Apache-2.0
ament_cmake
diff --git a/navigation2/package.xml b/navigation2/package.xml
index 3c800392bf..d1c6f38045 100644
--- a/navigation2/package.xml
+++ b/navigation2/package.xml
@@ -8,7 +8,7 @@
Steve Macenski
Carl Delsey
- Apache License 2.0
+ Apache-2.0
ament_cmake