From 01e3e833def9f092b0a412ded3cbb90f8c6d16f4 Mon Sep 17 00:00:00 2001
From: Sebastian Nagel <sebastian.nagel@franka.de>
Date: Fri, 15 Sep 2017 23:33:00 +0200
Subject: [PATCH] Add Apache-2.0 license headers

---
 franka_control/include/franka_control/franka_state_controller.h | 2 ++
 franka_control/include/franka_control/services.h                | 2 ++
 franka_control/src/franka_control_node.cpp                      | 2 ++
 franka_control/src/franka_state_controller.cpp                  | 2 ++
 franka_control/src/services.cpp                                 | 2 ++
 .../cartesian_pose_example_controller.h                         | 2 ++
 .../cartesian_velocity_example_controller.h                     | 2 ++
 .../joint_impedance_example_controller.h                        | 2 ++
 .../joint_position_example_controller.h                         | 2 ++
 .../joint_velocity_example_controller.h                         | 2 ++
 .../franka_example_controllers/model_example_controller.h       | 2 ++
 .../src/cartesian_pose_example_controller.cpp                   | 2 ++
 .../src/cartesian_velocity_example_controller.cpp               | 2 ++
 .../src/joint_impedance_example_controller.cpp                  | 2 ++
 .../src/joint_position_example_controller.cpp                   | 2 ++
 .../src/joint_velocity_example_controller.cpp                   | 2 ++
 franka_example_controllers/src/model_example_controller.cpp     | 2 ++
 franka_gripper/include/franka_gripper/franka_gripper.h          | 2 ++
 franka_gripper/src/franka_gripper.cpp                           | 2 ++
 franka_gripper/src/franka_gripper_node.cpp                      | 2 ++
 franka_hw/include/franka_hw/control_mode.h                      | 2 ++
 .../include/franka_hw/franka_cartesian_command_interface.h      | 2 ++
 franka_hw/include/franka_hw/franka_hw.h                         | 2 ++
 franka_hw/include/franka_hw/franka_model_interface.h            | 2 ++
 franka_hw/include/franka_hw/franka_state_interface.h            | 2 ++
 franka_hw/include/franka_hw/trigger_rate.h                      | 2 ++
 franka_hw/src/control_mode.cpp                                  | 2 ++
 franka_hw/src/franka_hw.cpp                                     | 2 ++
 franka_hw/src/resource_helpers.cpp                              | 2 ++
 franka_hw/src/resource_helpers.h                                | 2 ++
 franka_hw/src/trigger_rate.cpp                                  | 2 ++
 franka_hw/test/franka_hw_controller_switching_test.cpp          | 2 ++
 franka_hw/test/franka_hw_interfaces_test.cpp                    | 2 ++
 franka_hw/test/main.cpp                                         | 2 ++
 franka_visualization/src/franka_joint_state_publisher.cpp       | 2 ++
 35 files changed, 70 insertions(+)

diff --git a/franka_control/include/franka_control/franka_state_controller.h b/franka_control/include/franka_control/franka_state_controller.h
index 5c650ba..acb24f3 100644
--- a/franka_control/include/franka_control/franka_state_controller.h
+++ b/franka_control/include/franka_control/franka_state_controller.h
@@ -1,3 +1,5 @@
+// Copyright (c) 2017 Franka Emika GmbH
+// Use of this source code is governed by the Apache-2.0 license, see LICENSE
 #pragma once
 
 #include <cstdint>
diff --git a/franka_control/include/franka_control/services.h b/franka_control/include/franka_control/services.h
index fd3cc50..26814b9 100644
--- a/franka_control/include/franka_control/services.h
+++ b/franka_control/include/franka_control/services.h
@@ -1,3 +1,5 @@
+// Copyright (c) 2017 Franka Emika GmbH
+// Use of this source code is governed by the Apache-2.0 license, see LICENSE
 #pragma once
 
 #include <franka/exception.h>
diff --git a/franka_control/src/franka_control_node.cpp b/franka_control/src/franka_control_node.cpp
index ebdb534..ac44266 100644
--- a/franka_control/src/franka_control_node.cpp
+++ b/franka_control/src/franka_control_node.cpp
@@ -1,3 +1,5 @@
+// Copyright (c) 2017 Franka Emika GmbH
+// Use of this source code is governed by the Apache-2.0 license, see LICENSE
 #include <algorithm>
 #include <array>
 #include <atomic>
diff --git a/franka_control/src/franka_state_controller.cpp b/franka_control/src/franka_state_controller.cpp
index 6c7d26b..e38fdcd 100644
--- a/franka_control/src/franka_state_controller.cpp
+++ b/franka_control/src/franka_state_controller.cpp
@@ -1,3 +1,5 @@
+// Copyright (c) 2017 Franka Emika GmbH
+// Use of this source code is governed by the Apache-2.0 license, see LICENSE
 #include <franka_control/franka_state_controller.h>
 
 #include <cmath>
diff --git a/franka_control/src/services.cpp b/franka_control/src/services.cpp
index 8357dde..0445ea2 100644
--- a/franka_control/src/services.cpp
+++ b/franka_control/src/services.cpp
@@ -1,3 +1,5 @@
+// Copyright (c) 2017 Franka Emika GmbH
+// Use of this source code is governed by the Apache-2.0 license, see LICENSE
 #include <franka_control/services.h>
 
 namespace franka_control {
diff --git a/franka_example_controllers/include/franka_example_controllers/cartesian_pose_example_controller.h b/franka_example_controllers/include/franka_example_controllers/cartesian_pose_example_controller.h
index f3daa99..59d5aa0 100644
--- a/franka_example_controllers/include/franka_example_controllers/cartesian_pose_example_controller.h
+++ b/franka_example_controllers/include/franka_example_controllers/cartesian_pose_example_controller.h
@@ -1,3 +1,5 @@
+// Copyright (c) 2017 Franka Emika GmbH
+// Use of this source code is governed by the Apache-2.0 license, see LICENSE
 #pragma once
 
 #include <array>
diff --git a/franka_example_controllers/include/franka_example_controllers/cartesian_velocity_example_controller.h b/franka_example_controllers/include/franka_example_controllers/cartesian_velocity_example_controller.h
index 3183257..ccc8ff3 100644
--- a/franka_example_controllers/include/franka_example_controllers/cartesian_velocity_example_controller.h
+++ b/franka_example_controllers/include/franka_example_controllers/cartesian_velocity_example_controller.h
@@ -1,3 +1,5 @@
+// Copyright (c) 2017 Franka Emika GmbH
+// Use of this source code is governed by the Apache-2.0 license, see LICENSE
 #pragma once
 
 #include <memory>
diff --git a/franka_example_controllers/include/franka_example_controllers/joint_impedance_example_controller.h b/franka_example_controllers/include/franka_example_controllers/joint_impedance_example_controller.h
index cd6baad..240fbdd 100644
--- a/franka_example_controllers/include/franka_example_controllers/joint_impedance_example_controller.h
+++ b/franka_example_controllers/include/franka_example_controllers/joint_impedance_example_controller.h
@@ -1,3 +1,5 @@
+// Copyright (c) 2017 Franka Emika GmbH
+// Use of this source code is governed by the Apache-2.0 license, see LICENSE
 #pragma once
 
 #include <memory>
diff --git a/franka_example_controllers/include/franka_example_controllers/joint_position_example_controller.h b/franka_example_controllers/include/franka_example_controllers/joint_position_example_controller.h
index c07094a..59938c6 100644
--- a/franka_example_controllers/include/franka_example_controllers/joint_position_example_controller.h
+++ b/franka_example_controllers/include/franka_example_controllers/joint_position_example_controller.h
@@ -1,3 +1,5 @@
+// Copyright (c) 2017 Franka Emika GmbH
+// Use of this source code is governed by the Apache-2.0 license, see LICENSE
 #pragma once
 
 #include <array>
diff --git a/franka_example_controllers/include/franka_example_controllers/joint_velocity_example_controller.h b/franka_example_controllers/include/franka_example_controllers/joint_velocity_example_controller.h
index 29968c4..34bec83 100644
--- a/franka_example_controllers/include/franka_example_controllers/joint_velocity_example_controller.h
+++ b/franka_example_controllers/include/franka_example_controllers/joint_velocity_example_controller.h
@@ -1,3 +1,5 @@
+// Copyright (c) 2017 Franka Emika GmbH
+// Use of this source code is governed by the Apache-2.0 license, see LICENSE
 #pragma once
 
 #include <string>
diff --git a/franka_example_controllers/include/franka_example_controllers/model_example_controller.h b/franka_example_controllers/include/franka_example_controllers/model_example_controller.h
index 2540c6c..03ce523 100644
--- a/franka_example_controllers/include/franka_example_controllers/model_example_controller.h
+++ b/franka_example_controllers/include/franka_example_controllers/model_example_controller.h
@@ -1,3 +1,5 @@
+// Copyright (c) 2017 Franka Emika GmbH
+// Use of this source code is governed by the Apache-2.0 license, see LICENSE
 #pragma once
 
 #include <memory>
diff --git a/franka_example_controllers/src/cartesian_pose_example_controller.cpp b/franka_example_controllers/src/cartesian_pose_example_controller.cpp
index 458c6f5..bd00e6a 100644
--- a/franka_example_controllers/src/cartesian_pose_example_controller.cpp
+++ b/franka_example_controllers/src/cartesian_pose_example_controller.cpp
@@ -1,3 +1,5 @@
+// Copyright (c) 2017 Franka Emika GmbH
+// Use of this source code is governed by the Apache-2.0 license, see LICENSE
 #include <franka_example_controllers/cartesian_pose_example_controller.h>
 
 #include <cmath>
diff --git a/franka_example_controllers/src/cartesian_velocity_example_controller.cpp b/franka_example_controllers/src/cartesian_velocity_example_controller.cpp
index 037cdd0..6a12e1b 100644
--- a/franka_example_controllers/src/cartesian_velocity_example_controller.cpp
+++ b/franka_example_controllers/src/cartesian_velocity_example_controller.cpp
@@ -1,3 +1,5 @@
+// Copyright (c) 2017 Franka Emika GmbH
+// Use of this source code is governed by the Apache-2.0 license, see LICENSE
 #include <franka_example_controllers/cartesian_velocity_example_controller.h>
 
 #include <array>
diff --git a/franka_example_controllers/src/joint_impedance_example_controller.cpp b/franka_example_controllers/src/joint_impedance_example_controller.cpp
index 80c1b7f..7e090da 100644
--- a/franka_example_controllers/src/joint_impedance_example_controller.cpp
+++ b/franka_example_controllers/src/joint_impedance_example_controller.cpp
@@ -1,3 +1,5 @@
+// Copyright (c) 2017 Franka Emika GmbH
+// Use of this source code is governed by the Apache-2.0 license, see LICENSE
 #include <franka_example_controllers/joint_impedance_example_controller.h>
 
 #include <cmath>
diff --git a/franka_example_controllers/src/joint_position_example_controller.cpp b/franka_example_controllers/src/joint_position_example_controller.cpp
index 8246fb9..8417ce4 100644
--- a/franka_example_controllers/src/joint_position_example_controller.cpp
+++ b/franka_example_controllers/src/joint_position_example_controller.cpp
@@ -1,3 +1,5 @@
+// Copyright (c) 2017 Franka Emika GmbH
+// Use of this source code is governed by the Apache-2.0 license, see LICENSE
 #include <franka_example_controllers/joint_position_example_controller.h>
 
 #include <cmath>
diff --git a/franka_example_controllers/src/joint_velocity_example_controller.cpp b/franka_example_controllers/src/joint_velocity_example_controller.cpp
index 693f303..5db177c 100644
--- a/franka_example_controllers/src/joint_velocity_example_controller.cpp
+++ b/franka_example_controllers/src/joint_velocity_example_controller.cpp
@@ -1,3 +1,5 @@
+// Copyright (c) 2017 Franka Emika GmbH
+// Use of this source code is governed by the Apache-2.0 license, see LICENSE
 #include <franka_example_controllers/joint_velocity_example_controller.h>
 
 #include <cmath>
diff --git a/franka_example_controllers/src/model_example_controller.cpp b/franka_example_controllers/src/model_example_controller.cpp
index 0fadbcc..747a2e5 100644
--- a/franka_example_controllers/src/model_example_controller.cpp
+++ b/franka_example_controllers/src/model_example_controller.cpp
@@ -1,3 +1,5 @@
+// Copyright (c) 2017 Franka Emika GmbH
+// Use of this source code is governed by the Apache-2.0 license, see LICENSE
 
 #include <franka_example_controllers/model_example_controller.h>
 
diff --git a/franka_gripper/include/franka_gripper/franka_gripper.h b/franka_gripper/include/franka_gripper/franka_gripper.h
index ecae821..25d0037 100644
--- a/franka_gripper/include/franka_gripper/franka_gripper.h
+++ b/franka_gripper/include/franka_gripper/franka_gripper.h
@@ -1,3 +1,5 @@
+// Copyright (c) 2017 Franka Emika GmbH
+// Use of this source code is governed by the Apache-2.0 license, see LICENSE
 #pragma once
 
 #include <cmath>
diff --git a/franka_gripper/src/franka_gripper.cpp b/franka_gripper/src/franka_gripper.cpp
index 9684e5d..5f7ffc6 100644
--- a/franka_gripper/src/franka_gripper.cpp
+++ b/franka_gripper/src/franka_gripper.cpp
@@ -1,3 +1,5 @@
+// Copyright (c) 2017 Franka Emika GmbH
+// Use of this source code is governed by the Apache-2.0 license, see LICENSE
 #include <franka_gripper/franka_gripper.h>
 
 #include <cmath>
diff --git a/franka_gripper/src/franka_gripper_node.cpp b/franka_gripper/src/franka_gripper_node.cpp
index 407fc52..cade5df 100644
--- a/franka_gripper/src/franka_gripper_node.cpp
+++ b/franka_gripper/src/franka_gripper_node.cpp
@@ -1,3 +1,5 @@
+// Copyright (c) 2017 Franka Emika GmbH
+// Use of this source code is governed by the Apache-2.0 license, see LICENSE
 #include <functional>
 #include <mutex>
 #include <string>
diff --git a/franka_hw/include/franka_hw/control_mode.h b/franka_hw/include/franka_hw/control_mode.h
index 3e83ee7..281f842 100644
--- a/franka_hw/include/franka_hw/control_mode.h
+++ b/franka_hw/include/franka_hw/control_mode.h
@@ -1,3 +1,5 @@
+// Copyright (c) 2017 Franka Emika GmbH
+// Use of this source code is governed by the Apache-2.0 license, see LICENSE
 #pragma once
 
 #include <ostream>
diff --git a/franka_hw/include/franka_hw/franka_cartesian_command_interface.h b/franka_hw/include/franka_hw/franka_cartesian_command_interface.h
index 0d97444..d5b82e9 100644
--- a/franka_hw/include/franka_hw/franka_cartesian_command_interface.h
+++ b/franka_hw/include/franka_hw/franka_cartesian_command_interface.h
@@ -1,3 +1,5 @@
+// Copyright (c) 2017 Franka Emika GmbH
+// Use of this source code is governed by the Apache-2.0 license, see LICENSE
 #pragma once
 
 #include <array>
diff --git a/franka_hw/include/franka_hw/franka_hw.h b/franka_hw/include/franka_hw/franka_hw.h
index 10d6e37..9d967f4 100644
--- a/franka_hw/include/franka_hw/franka_hw.h
+++ b/franka_hw/include/franka_hw/franka_hw.h
@@ -1,3 +1,5 @@
+// Copyright (c) 2017 Franka Emika GmbH
+// Use of this source code is governed by the Apache-2.0 license, see LICENSE
 #pragma once
 
 #include <array>
diff --git a/franka_hw/include/franka_hw/franka_model_interface.h b/franka_hw/include/franka_hw/franka_model_interface.h
index b7c46a3..7ede138 100644
--- a/franka_hw/include/franka_hw/franka_model_interface.h
+++ b/franka_hw/include/franka_hw/franka_model_interface.h
@@ -1,3 +1,5 @@
+// Copyright (c) 2017 Franka Emika GmbH
+// Use of this source code is governed by the Apache-2.0 license, see LICENSE
 #pragma once
 
 #include <array>
diff --git a/franka_hw/include/franka_hw/franka_state_interface.h b/franka_hw/include/franka_hw/franka_state_interface.h
index b08d242..0e3be4c 100644
--- a/franka_hw/include/franka_hw/franka_state_interface.h
+++ b/franka_hw/include/franka_hw/franka_state_interface.h
@@ -1,3 +1,5 @@
+// Copyright (c) 2017 Franka Emika GmbH
+// Use of this source code is governed by the Apache-2.0 license, see LICENSE
 #pragma once
 
 #include <string>
diff --git a/franka_hw/include/franka_hw/trigger_rate.h b/franka_hw/include/franka_hw/trigger_rate.h
index f016650..add514c 100644
--- a/franka_hw/include/franka_hw/trigger_rate.h
+++ b/franka_hw/include/franka_hw/trigger_rate.h
@@ -1,3 +1,5 @@
+// Copyright (c) 2017 Franka Emika GmbH
+// Use of this source code is governed by the Apache-2.0 license, see LICENSE
 #pragma once
 
 #include <ros/time.h>
diff --git a/franka_hw/src/control_mode.cpp b/franka_hw/src/control_mode.cpp
index b60c1cf..e7c7e59 100644
--- a/franka_hw/src/control_mode.cpp
+++ b/franka_hw/src/control_mode.cpp
@@ -1,3 +1,5 @@
+// Copyright (c) 2017 Franka Emika GmbH
+// Use of this source code is governed by the Apache-2.0 license, see LICENSE
 #include <franka_hw/control_mode.h>
 
 #include <algorithm>
diff --git a/franka_hw/src/franka_hw.cpp b/franka_hw/src/franka_hw.cpp
index 226f65a..f753cdd 100644
--- a/franka_hw/src/franka_hw.cpp
+++ b/franka_hw/src/franka_hw.cpp
@@ -1,3 +1,5 @@
+// Copyright (c) 2017 Franka Emika GmbH
+// Use of this source code is governed by the Apache-2.0 license, see LICENSE
 #include <franka_hw/franka_hw.h>
 
 #include <cstdint>
diff --git a/franka_hw/src/resource_helpers.cpp b/franka_hw/src/resource_helpers.cpp
index b0ecb25..d8a2166 100644
--- a/franka_hw/src/resource_helpers.cpp
+++ b/franka_hw/src/resource_helpers.cpp
@@ -1,3 +1,5 @@
+// Copyright (c) 2017 Franka Emika GmbH
+// Use of this source code is governed by the Apache-2.0 license, see LICENSE
 #include "resource_helpers.h"
 
 #include <ros/console.h>
diff --git a/franka_hw/src/resource_helpers.h b/franka_hw/src/resource_helpers.h
index 1260a9d..15f00b9 100644
--- a/franka_hw/src/resource_helpers.h
+++ b/franka_hw/src/resource_helpers.h
@@ -1,3 +1,5 @@
+// Copyright (c) 2017 Franka Emika GmbH
+// Use of this source code is governed by the Apache-2.0 license, see LICENSE
 #pragma once
 
 #include <list>
diff --git a/franka_hw/src/trigger_rate.cpp b/franka_hw/src/trigger_rate.cpp
index 6823eec..4b5458f 100644
--- a/franka_hw/src/trigger_rate.cpp
+++ b/franka_hw/src/trigger_rate.cpp
@@ -1,3 +1,5 @@
+// Copyright (c) 2017 Franka Emika GmbH
+// Use of this source code is governed by the Apache-2.0 license, see LICENSE
 #include <franka_hw/trigger_rate.h>
 
 namespace franka_hw {
diff --git a/franka_hw/test/franka_hw_controller_switching_test.cpp b/franka_hw/test/franka_hw_controller_switching_test.cpp
index be2b72a..b171e4e 100644
--- a/franka_hw/test/franka_hw_controller_switching_test.cpp
+++ b/franka_hw/test/franka_hw_controller_switching_test.cpp
@@ -1,3 +1,5 @@
+// Copyright (c) 2017 Franka Emika GmbH
+// Use of this source code is governed by the Apache-2.0 license, see LICENSE
 #include <array>
 #include <list>
 #include <random>
diff --git a/franka_hw/test/franka_hw_interfaces_test.cpp b/franka_hw/test/franka_hw_interfaces_test.cpp
index 97f791f..87aad01 100644
--- a/franka_hw/test/franka_hw_interfaces_test.cpp
+++ b/franka_hw/test/franka_hw_interfaces_test.cpp
@@ -1,3 +1,5 @@
+// Copyright (c) 2017 Franka Emika GmbH
+// Use of this source code is governed by the Apache-2.0 license, see LICENSE
 #include <array>
 #include <random>
 #include <string>
diff --git a/franka_hw/test/main.cpp b/franka_hw/test/main.cpp
index 94bfe89..11c2f74 100644
--- a/franka_hw/test/main.cpp
+++ b/franka_hw/test/main.cpp
@@ -1,3 +1,5 @@
+// Copyright (c) 2017 Franka Emika GmbH
+// Use of this source code is governed by the Apache-2.0 license, see LICENSE
 #include <gtest/gtest.h>
 #include <ros/ros.h>
 
diff --git a/franka_visualization/src/franka_joint_state_publisher.cpp b/franka_visualization/src/franka_joint_state_publisher.cpp
index deb0264..8763ceb 100644
--- a/franka_visualization/src/franka_joint_state_publisher.cpp
+++ b/franka_visualization/src/franka_joint_state_publisher.cpp
@@ -1,3 +1,5 @@
+// Copyright (c) 2017 Franka Emika GmbH
+// Use of this source code is governed by the Apache-2.0 license, see LICENSE
 #include <franka/exception.h>
 #include <franka/robot.h>
 #include <ros/ros.h>
-- 
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