diff --git a/franka_control/include/franka_control/franka_state_controller.h b/franka_control/include/franka_control/franka_state_controller.h
index 5c650ba0211036143134c1c97568f25fa32527d0..acb24f3c5115b49b4a56dbe2c2c9278859c0a465 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 fd3cc50ece95420a9f92eed072ea2c46b1222144..26814b9652d640425f8745d9008980df9b058cea 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 ebdb53486bd37c9e2fed7ec22477f9090ccff06d..ac442663b4df70f9eaca462c97497494dce961ae 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 6c7d26b25af28024c8f98a00db16a1ba1e6b29bb..e38fdcd2a52432afc7bbeed48f3ab17093f75c54 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 8357dded9f1c0537e24da3f2ae3622d4365e93e1..0445ea2426e594fa2c03a5f75945319a86155cad 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 f3daa9902d30782579963773f3ecf7c62799fd29..59d5aa01aba1855003b5079f664e3ba920436303 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 318325797f8b14e041e28232078da44fcf1e87a2..ccc8ff33304dd1525f641bfc667b2c53fa307891 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 cd6baadf2806ce7abd05f23b6ed2713443efc8a1..240fbddcd6f20bb2f0f869f97a068f24e37fcbc9 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 c07094a72f13e2f20c4d82a7f47f73d134e8dacc..59938c68ca1ecb27a6815dbebf82c28b2aecb165 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 29968c4a07133fd3dc4dd819aa2b25484ca109d0..34bec83ef29579f14c4c7e24a94cc96ffb460147 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 2540c6c6a3e2e774b378b93dc83f700f28549cc3..03ce5235c4ea1ec0cf5105496f3c2d15709efae2 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 458c6f59fb9259b9cd3a44de0c8aa714f376bd37..bd00e6ae7b09d7bd2953611b77bc0d0be8b4ae38 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 037cdd0815d8a5a4adaf801eef05a075bd3f64d7..6a12e1b6716324c5f8b68a93be3fd47da8f54fd0 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 80c1b7f858e5dd81e1bf99af7629dfb8cdf1a513..7e090daaa18a252e54551600154c3a6077c56504 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 8246fb9dce5e772e418a9a5113ea775af62f66f2..8417ce4f2067486ad39fe5476f09f9c5ca93d328 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 693f30397f4958ec61e5721ed21697a739804f07..5db177cf6fd68cfbf896c1ace4cd0caa201cd103 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 0fadbcce8d5a46d925e8f7cbbbb13c63b33b0a3d..747a2e52c8fc362b04e99e6e77ee376ebc1c507c 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 ecae821f3620b64c6fadc3880bb753f2cc2dcd53..25d00375fdcb440664a9f90974331e9de854440c 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 9684e5d79531eba33d601d6693ae242a58866be6..5f7ffc66a0fc68e26ce9820bbafc523bcf823e43 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 407fc52656273dc9fb7e03bd2cfdeac9ada9f857..cade5dfd747038addc6aa0c6e33ccf174a1e85e8 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 3e83ee73a3f80b642d3adb24b8a954e3b2befb90..281f842a3b1e9e1ed69f1934a9ab401a12e874cd 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 0d97444880fc4bd3edffcff495023df3ddb2c768..d5b82e9f1ba2c68f5d036550e3b8a57873997bd1 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 10d6e377d7270fd8c0e7307fc24ef5a2931252a9..9d967f4302a200d718f20a04d0fe6d3fd57686b4 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 b7c46a3963c8717b856fc79687d053b1e20be8fd..7ede138abbd494f1492716ecb40ede34e6298796 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 b08d2427b7899c4d1e7c1bf0e9e3cd4b00b28b6d..0e3be4cedf36393cf8bd780c978dc181a99ea291 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 f0166501ae9dd5345aef6bdc212eb5a7d3bcefc7..add514c2d158da49cf67850d3e039c38c8eda0b6 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 b60c1cf33f89ff6c699903598db7d67118fa46df..e7c7e59b8e5963e2f6d9c384f7f2051994183c8c 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 226f65a6625350a851231a11f61a50679f61f2a9..f753cdd10d7ada09fe5ef5a3635466af0057c3e5 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 b0ecb250029fcf816d6ae1b1bb08b4a55ca269e9..d8a2166bcfe9d88c7b5e6ddca243987f38060b0c 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 1260a9da074eace1e6d073ba2089d07b51d8e850..15f00b9df93252519e7e953a76c9e2d56b059030 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 6823eec4abe3979299108afc960827b7bd879fe6..4b5458f40e6742075d580df1c0f38a82cd491b41 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 be2b72ad24e732f89dc9388e3dfbeca19adb91b8..b171e4e1413789a134684ecf0a6f5f20dba7098a 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 97f791f730e4297b0c046257f71aafe78ad56451..87aad019f58fd9febd038af1d3f63cd52d538500 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 94bfe897fd182f183a7d28d9484a7123a61e1034..11c2f742286293d9263d15fb404158e299baf2b8 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 deb02649aca8db3b33f69e66df79ce82c5a4230e..8763cebc9b285a805d989a712b75acbc69f42cf7 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>