From 56f98bd2263bb1eaddfa1355dc6f06b7f28bec74 Mon Sep 17 00:00:00 2001 From: takuya kodama Date: Thu, 22 May 2025 16:22:55 +0900 Subject: [PATCH] Relicense to Apache License 2.0 from BSD 3-Clause License (#13) We are standardizing our software under Apache License 2.0. This PR replaces existing BSD 3-Clause License with Apache 2.0 in this repository. ## About Copyright All commits in this repository are made by Reazon Holdings, Inc. members, so the copyright has been added as follows. - `Copyright 2025 Reazon Holdings, Inc.` ```console $ git shortlog -sn 55 Thomason Zhou 14 thomason 5 takuya kodama 1 Fujimoto Seiji 1 edwin-giang 1 toki ``` ## How it was done We added the new license header directory by directory, with each commit covering a single directory to make review easier. To ensure there are no missing files, we ran the following commands. ``` $ grep -RIL --exclude-dir='.git' --exclude='*.stl' "Apache License, Version 2.0" . ./openarm_bringup/README.md ./openarm_bimanual_moveit_config/README.md ./openarm_bimanual_description/urdf/openarm_bimanual.urdf ./.gitignore ./README.md ./openarm_description/urdf/openarm.urdf ./openarm_description/resource/openarm_description ``` The following files are auto-generated. - openarm_bimanual_description/urdf/openarm_bimanual.urdf - openarm_description/urdf/openarm.urdf --- .clang-format | 14 ++ .github/dependabot.yml | 14 ++ .github/workflows/lint.yml | 14 ++ .pre-commit-config.yaml | 14 ++ LICENSE | 220 ++++++++++++++++-- README.md | 4 +- openarm/CMakeLists.txt | 14 ++ openarm/LICENSE | 219 +++++++++++++++-- openarm/package.xml | 17 +- openarm_bimanual_bringup/CMakeLists.txt | 14 ++ openarm_bimanual_bringup/LICENSE | 219 +++++++++++++++-- .../config/controllers.yaml | 16 +- .../launch/depth_camera.launch.py | 14 ++ .../launch/start_teleop.launch.py | 14 ++ openarm_bimanual_bringup/package.xml | 17 +- openarm_bimanual_description/CMakeLists.txt | 14 ++ openarm_bimanual_description/LICENSE | 202 ++++++++++++++++ .../launch/description.launch.py | 14 ++ .../launch/display.launch.py | 14 ++ .../launch/gazebo.launch.py | 14 ++ openarm_bimanual_description/package.xml | 17 +- .../rviz/robot_description.rviz | 14 ++ .../urdf/openarm_bimanual.urdf.xacro | 15 ++ .../urdf/openarm_bimanual_sensors.xacro | 15 ++ .../urdf/openarm_pedestal.urdf | 15 ++ .../worlds/cars_and_trees.sdf | 15 ++ openarm_bimanual_description/worlds/empty.sdf | 15 ++ .../.setup_assistant | 16 +- openarm_bimanual_moveit_config/CMakeLists.txt | 14 ++ openarm_bimanual_moveit_config/LICENSE | 202 ++++++++++++++++ .../config/initial_positions.yaml | 16 +- .../config/joint_limits.yaml | 16 +- .../config/kinematics.yaml | 16 +- .../config/moveit.rviz | 14 ++ .../config/moveit_controllers.yaml | 16 +- .../openarm_bimanual.ros2_control.xacro | 15 ++ .../config/openarm_bimanual.srdf | 15 ++ .../config/openarm_bimanual.urdf.xacro | 15 ++ .../config/pilz_cartesian_limits.yaml | 14 ++ .../config/ros2_controllers.yaml | 16 +- .../config/sensors_3d.yaml | 16 +- .../launch/demo.launch.py | 14 ++ .../launch/move_group.launch.py | 14 ++ .../launch/moveit_rviz.launch.py | 14 ++ .../launch/rsp.launch.py | 14 ++ .../launch/setup_assistant.launch.py | 14 ++ .../launch/spawn_controllers.launch.py | 14 ++ .../launch/static_virtual_joint_tfs.launch.py | 14 ++ .../launch/warehouse_db.launch.py | 14 ++ openarm_bimanual_moveit_config/package.xml | 17 +- openarm_bringup/CMakeLists.txt | 14 ++ openarm_bringup/LICENSE | 219 +++++++++++++++-- openarm_bringup/launch/openarm.launch.py | 3 +- ...test_forward_position_controller.launch.py | 3 +- ...test_joint_trajectory_controller.launch.py | 3 +- openarm_bringup/package.xml | 17 +- openarm_bringup/utils/init_can.sh | 17 +- openarm_description/CMakeLists.txt | 14 ++ openarm_description/LICENSE | 202 ++++++++++++++++ .../config/initial_positions.yaml | 14 ++ .../launch/description.launch.py | 14 ++ openarm_description/launch/display.launch.py | 14 ++ openarm_description/launch/gazebo.launch.py | 14 ++ openarm_description/package.xml | 17 +- .../rviz/robot_description.rviz | 14 ++ .../urdf/openarm.ros2_control.xacro | 15 ++ openarm_description/urdf/openarm.urdf.xacro | 15 ++ openarm_description/urdf/openarm.xacro | 15 ++ .../urdf/openarm_sensors.xacro | 15 ++ openarm_description/worlds/empty.sdf | 15 ++ openarm_hardware/CMakeLists.txt | 15 ++ openarm_hardware/LICENSE | 219 +++++++++++++++-- .../include/openarm_hardware/canbus.hpp | 14 ++ .../include/openarm_hardware/motor.hpp | 14 ++ .../openarm_hardware/motor_control.hpp | 14 ++ .../openarm_hardware/openarm_hardware.hpp | 4 +- .../openarm_hardware/visibility_control.h | 4 +- openarm_hardware/openarm_hardware.xml | 16 ++ openarm_hardware/package.xml | 17 +- openarm_hardware/setup.bash | 16 +- openarm_hardware/src/canbus.cpp | 14 ++ openarm_hardware/src/motor.cpp | 14 ++ openarm_hardware/src/motor_control.cpp | 14 ++ openarm_hardware/src/openarm_hardware.cpp | 4 +- .../test/test_openarm_hardware.cpp | 4 +- openarm_moveit_config/.setup_assistant | 16 +- openarm_moveit_config/CMakeLists.txt | 14 ++ openarm_moveit_config/LICENSE | 202 ++++++++++++++++ .../config/initial_positions.yaml | 16 +- .../config/joint_limits.yaml | 16 +- openarm_moveit_config/config/kinematics.yaml | 16 +- openarm_moveit_config/config/moveit.rviz | 14 ++ .../config/moveit_controllers.yaml | 16 +- .../config/ompl_planning.yaml | 14 ++ openarm_moveit_config/config/openarm.srdf | 15 ++ .../config/openarm.urdf.xacro | 15 ++ .../config/pilz_cartesian_limits.yaml | 14 ++ .../config/ros2_controllers.yaml | 16 +- openarm_moveit_config/config/sensors_3d.yaml | 16 +- openarm_moveit_config/launch/demo.launch.py | 14 ++ .../launch/move_group.launch.py | 14 ++ .../launch/moveit_rviz.launch.py | 14 ++ openarm_moveit_config/launch/rsp.launch.py | 14 ++ .../launch/setup_assistant.launch.py | 14 ++ .../launch/spawn_controllers.launch.py | 14 ++ .../launch/static_virtual_joint_tfs.launch.py | 14 ++ .../launch/warehouse_db.launch.py | 14 ++ openarm_moveit_config/package.xml | 17 +- 108 files changed, 3138 insertions(+), 146 deletions(-) create mode 100644 openarm_bimanual_description/LICENSE create mode 100644 openarm_bimanual_moveit_config/LICENSE create mode 100644 openarm_description/LICENSE create mode 100644 openarm_moveit_config/LICENSE diff --git a/.clang-format b/.clang-format index 9f3e95c..ded03d9 100644 --- a/.clang-format +++ b/.clang-format @@ -1,2 +1,16 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + --- BasedOnStyle: Google diff --git a/.github/dependabot.yml b/.github/dependabot.yml index 5ace460..012e4d3 100644 --- a/.github/dependabot.yml +++ b/.github/dependabot.yml @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + version: 2 updates: - package-ecosystem: "github-actions" diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml index df28695..40eb14e 100644 --- a/.github/workflows/lint.yml +++ b/.github/workflows/lint.yml @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + name: Lint on: push: diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 376c982..87f57c7 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + repos: - repo: https://github.com/pre-commit/mirrors-clang-format rev: "v20.1.4" diff --git a/LICENSE b/LICENSE index f776b7e..d645695 100644 --- a/LICENSE +++ b/LICENSE @@ -1,30 +1,202 @@ -BSD 3-Clause License -Copyright (c) 2025, Reazon Holdings, Inc. -All rights reserved. + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION - * Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. + 1. Definitions. - * Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. - * Neither the name of the copyright holder nor the names of its - contributors may be used to endorse or promote products derived from - this software without specific prior written permission. + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE -LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -POSSIBILITY OF SUCH DAMAGE. + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. For the purposes of this definition, "submitted" + means any form of electronic, verbal, or written communication sent + to the Licensor or its representatives, including but not limited to + communication on electronic mailing lists, source code control systems, + and issue tracking systems that are managed by, or on behalf of, the + Licensor for the purpose of discussing and improving the Work, but + excluding communication that is conspicuously marked or otherwise + designated in writing by the copyright owner as "Not a Contribution." + + "Contributor" shall mean Licensor and any individual or Legal Entity + on behalf of whom a Contribution has been received by Licensor and + subsequently incorporated within the Work. + + 2. Grant of Copyright License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + copyright license to reproduce, prepare Derivative Works of, + publicly display, publicly perform, sublicense, and distribute the + Work and such Derivative Works in Source or Object form. + + 3. Grant of Patent License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + (except as stated in this section) patent license to make, have made, + use, offer to sell, sell, import, and otherwise transfer the Work, + where such license applies only to those patent claims licensable + by such Contributor that are necessarily infringed by their + Contribution(s) alone or by combination of their Contribution(s) + with the Work to which such Contribution(s) was submitted. If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + 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. diff --git a/README.md b/README.md index cc84749..4187174 100644 --- a/README.md +++ b/README.md @@ -4,7 +4,7 @@ - +

@@ -76,4 +76,4 @@ ros2 launch openarm_bimanual_moveit_config demo.launch.py ## License -All packages of `openarm_ros2` are licensed under the [BSD-3-Clause](https://opensource.org/license/bsd-3-clause). +All packages of `openarm_ros2` are licensed under the [Apache License 2.0](https://www.apache.org/licenses/LICENSE-2.0). diff --git a/openarm/CMakeLists.txt b/openarm/CMakeLists.txt index 1c9acfb..99a2410 100644 --- a/openarm/CMakeLists.txt +++ b/openarm/CMakeLists.txt @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + cmake_minimum_required(VERSION 3.8) project(openarm) diff --git a/openarm/LICENSE b/openarm/LICENSE index 574ef07..d645695 100644 --- a/openarm/LICENSE +++ b/openarm/LICENSE @@ -1,25 +1,202 @@ -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - * Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ - * Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION - * Neither the name of the copyright holder nor the names of its - contributors may be used to endorse or promote products derived from - this software without specific prior written permission. + 1. Definitions. -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE -LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -POSSIBILITY OF SUCH DAMAGE. + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. For the purposes of this definition, "submitted" + means any form of electronic, verbal, or written communication sent + to the Licensor or its representatives, including but not limited to + communication on electronic mailing lists, source code control systems, + and issue tracking systems that are managed by, or on behalf of, the + Licensor for the purpose of discussing and improving the Work, but + excluding communication that is conspicuously marked or otherwise + designated in writing by the copyright owner as "Not a Contribution." + + "Contributor" shall mean Licensor and any individual or Legal Entity + on behalf of whom a Contribution has been received by Licensor and + subsequently incorporated within the Work. + + 2. Grant of Copyright License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + copyright license to reproduce, prepare Derivative Works of, + publicly display, publicly perform, sublicense, and distribute the + Work and such Derivative Works in Source or Object form. + + 3. Grant of Patent License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + (except as stated in this section) patent license to make, have made, + use, offer to sell, sell, import, and otherwise transfer the Work, + where such license applies only to those patent claims licensable + by such Contributor that are necessarily infringed by their + Contribution(s) alone or by combination of their Contribution(s) + with the Work to which such Contribution(s) was submitted. If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + 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. diff --git a/openarm/package.xml b/openarm/package.xml index 7cde786..142c9ae 100644 --- a/openarm/package.xml +++ b/openarm/package.xml @@ -1,11 +1,26 @@ + openarm 0.3.0 Metapackage for OpenArm Thomason Zhou - BSD-3-Clause + Apache-2.0 ament_cmake diff --git a/openarm_bimanual_bringup/CMakeLists.txt b/openarm_bimanual_bringup/CMakeLists.txt index 50f89dd..8669756 100644 --- a/openarm_bimanual_bringup/CMakeLists.txt +++ b/openarm_bimanual_bringup/CMakeLists.txt @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + cmake_minimum_required(VERSION 3.8) project(openarm_bimanual_bringup) diff --git a/openarm_bimanual_bringup/LICENSE b/openarm_bimanual_bringup/LICENSE index 574ef07..d645695 100644 --- a/openarm_bimanual_bringup/LICENSE +++ b/openarm_bimanual_bringup/LICENSE @@ -1,25 +1,202 @@ -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - * Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ - * Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION - * Neither the name of the copyright holder nor the names of its - contributors may be used to endorse or promote products derived from - this software without specific prior written permission. + 1. Definitions. -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE -LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -POSSIBILITY OF SUCH DAMAGE. + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. For the purposes of this definition, "submitted" + means any form of electronic, verbal, or written communication sent + to the Licensor or its representatives, including but not limited to + communication on electronic mailing lists, source code control systems, + and issue tracking systems that are managed by, or on behalf of, the + Licensor for the purpose of discussing and improving the Work, but + excluding communication that is conspicuously marked or otherwise + designated in writing by the copyright owner as "Not a Contribution." + + "Contributor" shall mean Licensor and any individual or Legal Entity + on behalf of whom a Contribution has been received by Licensor and + subsequently incorporated within the Work. + + 2. Grant of Copyright License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + copyright license to reproduce, prepare Derivative Works of, + publicly display, publicly perform, sublicense, and distribute the + Work and such Derivative Works in Source or Object form. + + 3. Grant of Patent License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + (except as stated in this section) patent license to make, have made, + use, offer to sell, sell, import, and otherwise transfer the Work, + where such license applies only to those patent claims licensable + by such Contributor that are necessarily infringed by their + Contribution(s) alone or by combination of their Contribution(s) + with the Work to which such Contribution(s) was submitted. If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + 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. diff --git a/openarm_bimanual_bringup/config/controllers.yaml b/openarm_bimanual_bringup/config/controllers.yaml index 4750945..cd42edb 100644 --- a/openarm_bimanual_bringup/config/controllers.yaml +++ b/openarm_bimanual_bringup/config/controllers.yaml @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + controller_manager: ros__parameters: update_rate: 100 # Hz @@ -45,4 +59,4 @@ controller_manager: # state_interfaces: # - position # - velocity -# - effort \ No newline at end of file +# - effort diff --git a/openarm_bimanual_bringup/launch/depth_camera.launch.py b/openarm_bimanual_bringup/launch/depth_camera.launch.py index 9c9016d..6bf18d3 100644 --- a/openarm_bimanual_bringup/launch/depth_camera.launch.py +++ b/openarm_bimanual_bringup/launch/depth_camera.launch.py @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + from launch import LaunchDescription from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource diff --git a/openarm_bimanual_bringup/launch/start_teleop.launch.py b/openarm_bimanual_bringup/launch/start_teleop.launch.py index 2495f0c..0e055c6 100644 --- a/openarm_bimanual_bringup/launch/start_teleop.launch.py +++ b/openarm_bimanual_bringup/launch/start_teleop.launch.py @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + import launch from launch.actions import ( DeclareLaunchArgument, diff --git a/openarm_bimanual_bringup/package.xml b/openarm_bimanual_bringup/package.xml index 855c155..621b3d6 100644 --- a/openarm_bimanual_bringup/package.xml +++ b/openarm_bimanual_bringup/package.xml @@ -1,11 +1,26 @@ + openarm_bimanual_bringup 0.3.0 Bringup for bimanual openarm Thomason Zhou - BSD-3-Clause + Apache-2.0 ament_cmake diff --git a/openarm_bimanual_description/CMakeLists.txt b/openarm_bimanual_description/CMakeLists.txt index f1ac44c..8ffbad0 100644 --- a/openarm_bimanual_description/CMakeLists.txt +++ b/openarm_bimanual_description/CMakeLists.txt @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + cmake_minimum_required(VERSION 3.8) project(openarm_bimanual_description) diff --git a/openarm_bimanual_description/LICENSE b/openarm_bimanual_description/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/openarm_bimanual_description/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. For the purposes of this definition, "submitted" + means any form of electronic, verbal, or written communication sent + to the Licensor or its representatives, including but not limited to + communication on electronic mailing lists, source code control systems, + and issue tracking systems that are managed by, or on behalf of, the + Licensor for the purpose of discussing and improving the Work, but + excluding communication that is conspicuously marked or otherwise + designated in writing by the copyright owner as "Not a Contribution." + + "Contributor" shall mean Licensor and any individual or Legal Entity + on behalf of whom a Contribution has been received by Licensor and + subsequently incorporated within the Work. + + 2. Grant of Copyright License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + copyright license to reproduce, prepare Derivative Works of, + publicly display, publicly perform, sublicense, and distribute the + Work and such Derivative Works in Source or Object form. + + 3. Grant of Patent License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + (except as stated in this section) patent license to make, have made, + use, offer to sell, sell, import, and otherwise transfer the Work, + where such license applies only to those patent claims licensable + by such Contributor that are necessarily infringed by their + Contribution(s) alone or by combination of their Contribution(s) + with the Work to which such Contribution(s) was submitted. If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + 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. diff --git a/openarm_bimanual_description/launch/description.launch.py b/openarm_bimanual_description/launch/description.launch.py index 337a4ab..f738afb 100644 --- a/openarm_bimanual_description/launch/description.launch.py +++ b/openarm_bimanual_description/launch/description.launch.py @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + from pathlib import Path import launch diff --git a/openarm_bimanual_description/launch/display.launch.py b/openarm_bimanual_description/launch/display.launch.py index 49fefab..3fce4a0 100644 --- a/openarm_bimanual_description/launch/display.launch.py +++ b/openarm_bimanual_description/launch/display.launch.py @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + from pathlib import Path import launch diff --git a/openarm_bimanual_description/launch/gazebo.launch.py b/openarm_bimanual_description/launch/gazebo.launch.py index 6ce988c..7b70457 100644 --- a/openarm_bimanual_description/launch/gazebo.launch.py +++ b/openarm_bimanual_description/launch/gazebo.launch.py @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + import os import re import subprocess diff --git a/openarm_bimanual_description/package.xml b/openarm_bimanual_description/package.xml index be69427..bf9f44e 100644 --- a/openarm_bimanual_description/package.xml +++ b/openarm_bimanual_description/package.xml @@ -1,11 +1,26 @@ + openarm_bimanual_description 0.3.0 Using OpenArm as set of humanoid arms Thomason Zhou - BSD-3-Clause + Apache-2.0 ament_cmake diff --git a/openarm_bimanual_description/rviz/robot_description.rviz b/openarm_bimanual_description/rviz/robot_description.rviz index 5194843..163d7ae 100644 --- a/openarm_bimanual_description/rviz/robot_description.rviz +++ b/openarm_bimanual_description/rviz/robot_description.rviz @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + Panels: - Class: rviz_common/Displays Name: Displays diff --git a/openarm_bimanual_description/urdf/openarm_bimanual.urdf.xacro b/openarm_bimanual_description/urdf/openarm_bimanual.urdf.xacro index 437dcdd..705299b 100644 --- a/openarm_bimanual_description/urdf/openarm_bimanual.urdf.xacro +++ b/openarm_bimanual_description/urdf/openarm_bimanual.urdf.xacro @@ -1,4 +1,19 @@ + diff --git a/openarm_bimanual_description/urdf/openarm_bimanual_sensors.xacro b/openarm_bimanual_description/urdf/openarm_bimanual_sensors.xacro index 804a699..be7c7c7 100644 --- a/openarm_bimanual_description/urdf/openarm_bimanual_sensors.xacro +++ b/openarm_bimanual_description/urdf/openarm_bimanual_sensors.xacro @@ -1,4 +1,19 @@ + diff --git a/openarm_bimanual_description/urdf/openarm_pedestal.urdf b/openarm_bimanual_description/urdf/openarm_pedestal.urdf index 1c4db76..58d7fa5 100644 --- a/openarm_bimanual_description/urdf/openarm_pedestal.urdf +++ b/openarm_bimanual_description/urdf/openarm_pedestal.urdf @@ -1,4 +1,19 @@ + diff --git a/openarm_bimanual_description/worlds/cars_and_trees.sdf b/openarm_bimanual_description/worlds/cars_and_trees.sdf index 74e1410..a47c00f 100644 --- a/openarm_bimanual_description/worlds/cars_and_trees.sdf +++ b/openarm_bimanual_description/worlds/cars_and_trees.sdf @@ -1,4 +1,19 @@ + diff --git a/openarm_bimanual_description/worlds/empty.sdf b/openarm_bimanual_description/worlds/empty.sdf index 586f1de..16fd561 100644 --- a/openarm_bimanual_description/worlds/empty.sdf +++ b/openarm_bimanual_description/worlds/empty.sdf @@ -1,4 +1,19 @@ + diff --git a/openarm_bimanual_moveit_config/.setup_assistant b/openarm_bimanual_moveit_config/.setup_assistant index cbb7ba2..e48c9d9 100644 --- a/openarm_bimanual_moveit_config/.setup_assistant +++ b/openarm_bimanual_moveit_config/.setup_assistant @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + moveit_setup_assistant_config: urdf: package: openarm_bimanual_description @@ -7,4 +21,4 @@ moveit_setup_assistant_config: package_settings: author_name: Thomason Zhou author_email: t95zhou@uwaterloo.ca - generated_timestamp: 1745486864 \ No newline at end of file + generated_timestamp: 1745486864 diff --git a/openarm_bimanual_moveit_config/CMakeLists.txt b/openarm_bimanual_moveit_config/CMakeLists.txt index b2d1fc9..58989a3 100644 --- a/openarm_bimanual_moveit_config/CMakeLists.txt +++ b/openarm_bimanual_moveit_config/CMakeLists.txt @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + cmake_minimum_required(VERSION 3.22) project(openarm_bimanual_moveit_config) diff --git a/openarm_bimanual_moveit_config/LICENSE b/openarm_bimanual_moveit_config/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/openarm_bimanual_moveit_config/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. For the purposes of this definition, "submitted" + means any form of electronic, verbal, or written communication sent + to the Licensor or its representatives, including but not limited to + communication on electronic mailing lists, source code control systems, + and issue tracking systems that are managed by, or on behalf of, the + Licensor for the purpose of discussing and improving the Work, but + excluding communication that is conspicuously marked or otherwise + designated in writing by the copyright owner as "Not a Contribution." + + "Contributor" shall mean Licensor and any individual or Legal Entity + on behalf of whom a Contribution has been received by Licensor and + subsequently incorporated within the Work. + + 2. Grant of Copyright License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + copyright license to reproduce, prepare Derivative Works of, + publicly display, publicly perform, sublicense, and distribute the + Work and such Derivative Works in Source or Object form. + + 3. Grant of Patent License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + (except as stated in this section) patent license to make, have made, + use, offer to sell, sell, import, and otherwise transfer the Work, + where such license applies only to those patent claims licensable + by such Contributor that are necessarily infringed by their + Contribution(s) alone or by combination of their Contribution(s) + with the Work to which such Contribution(s) was submitted. If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + 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. diff --git a/openarm_bimanual_moveit_config/config/initial_positions.yaml b/openarm_bimanual_moveit_config/config/initial_positions.yaml index a3894f6..62bcdf0 100644 --- a/openarm_bimanual_moveit_config/config/initial_positions.yaml +++ b/openarm_bimanual_moveit_config/config/initial_positions.yaml @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + # Default initial positions for openarm_bimanual's ros2_control fake system initial_positions: @@ -16,4 +30,4 @@ initial_positions: right_rev4: 0 right_rev5: 0 right_rev6: 0 - right_rev7: 0 \ No newline at end of file + right_rev7: 0 diff --git a/openarm_bimanual_moveit_config/config/joint_limits.yaml b/openarm_bimanual_moveit_config/config/joint_limits.yaml index a2d9a60..e67c8fe 100644 --- a/openarm_bimanual_moveit_config/config/joint_limits.yaml +++ b/openarm_bimanual_moveit_config/config/joint_limits.yaml @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed # For beginners, we downscale velocity and acceleration limits. @@ -87,4 +101,4 @@ joint_limits: has_velocity_limits: false max_velocity: 0 has_acceleration_limits: false - max_acceleration: 0 \ No newline at end of file + max_acceleration: 0 diff --git a/openarm_bimanual_moveit_config/config/kinematics.yaml b/openarm_bimanual_moveit_config/config/kinematics.yaml index 8ad5571..050f902 100644 --- a/openarm_bimanual_moveit_config/config/kinematics.yaml +++ b/openarm_bimanual_moveit_config/config/kinematics.yaml @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + left_arm: kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin kinematics_solver_search_resolution: 0.0050000000000000001 @@ -17,4 +31,4 @@ right_side: upper_body: kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin kinematics_solver_search_resolution: 0.0050000000000000001 - kinematics_solver_timeout: 0.0050000000000000001 \ No newline at end of file + kinematics_solver_timeout: 0.0050000000000000001 diff --git a/openarm_bimanual_moveit_config/config/moveit.rviz b/openarm_bimanual_moveit_config/config/moveit.rviz index 0081327..6afd61b 100644 --- a/openarm_bimanual_moveit_config/config/moveit.rviz +++ b/openarm_bimanual_moveit_config/config/moveit.rviz @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + Panels: - Class: rviz_common/Displays Help Height: 70 diff --git a/openarm_bimanual_moveit_config/config/moveit_controllers.yaml b/openarm_bimanual_moveit_config/config/moveit_controllers.yaml index b8a1de0..521b037 100644 --- a/openarm_bimanual_moveit_config/config/moveit_controllers.yaml +++ b/openarm_bimanual_moveit_config/config/moveit_controllers.yaml @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + # MoveIt uses this configuration for controller management moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager @@ -44,4 +58,4 @@ moveit_simple_controller_manager: joints: - right_left_pris1 action_ns: gripper_cmd - default: true \ No newline at end of file + default: true diff --git a/openarm_bimanual_moveit_config/config/openarm_bimanual.ros2_control.xacro b/openarm_bimanual_moveit_config/config/openarm_bimanual.ros2_control.xacro index 7bb6240..0e3b8dc 100644 --- a/openarm_bimanual_moveit_config/config/openarm_bimanual.ros2_control.xacro +++ b/openarm_bimanual_moveit_config/config/openarm_bimanual.ros2_control.xacro @@ -1,4 +1,19 @@ + diff --git a/openarm_bimanual_moveit_config/config/openarm_bimanual.srdf b/openarm_bimanual_moveit_config/config/openarm_bimanual.srdf index af64cdb..e58b8c5 100644 --- a/openarm_bimanual_moveit_config/config/openarm_bimanual.srdf +++ b/openarm_bimanual_moveit_config/config/openarm_bimanual.srdf @@ -1,4 +1,19 @@ + diff --git a/openarm_bimanual_moveit_config/config/pilz_cartesian_limits.yaml b/openarm_bimanual_moveit_config/config/pilz_cartesian_limits.yaml index b2997ca..38b142a 100644 --- a/openarm_bimanual_moveit_config/config/pilz_cartesian_limits.yaml +++ b/openarm_bimanual_moveit_config/config/pilz_cartesian_limits.yaml @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + # Limits for the Pilz planner cartesian_limits: max_trans_vel: 1.0 diff --git a/openarm_bimanual_moveit_config/config/ros2_controllers.yaml b/openarm_bimanual_moveit_config/config/ros2_controllers.yaml index 7007b61..24b5d3a 100644 --- a/openarm_bimanual_moveit_config/config/ros2_controllers.yaml +++ b/openarm_bimanual_moveit_config/config/ros2_controllers.yaml @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + # This config file is used by ros2_control controller_manager: ros__parameters: @@ -130,4 +144,4 @@ upper_body_controller: - velocity state_interfaces: - position - - velocity \ No newline at end of file + - velocity diff --git a/openarm_bimanual_moveit_config/config/sensors_3d.yaml b/openarm_bimanual_moveit_config/config/sensors_3d.yaml index d2fe2ab..048fbc5 100644 --- a/openarm_bimanual_moveit_config/config/sensors_3d.yaml +++ b/openarm_bimanual_moveit_config/config/sensors_3d.yaml @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + sensors: - default_sensor - kinect_depthimage @@ -20,4 +34,4 @@ kinect_depthimage: padding_scale: 4.0 queue_size: 5 sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater - shadow_threshold: 0.2 \ No newline at end of file + shadow_threshold: 0.2 diff --git a/openarm_bimanual_moveit_config/launch/demo.launch.py b/openarm_bimanual_moveit_config/launch/demo.launch.py index dd1e01f..f0a8cf5 100644 --- a/openarm_bimanual_moveit_config/launch/demo.launch.py +++ b/openarm_bimanual_moveit_config/launch/demo.launch.py @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + from moveit_configs_utils import MoveItConfigsBuilder from moveit_configs_utils.launches import generate_demo_launch diff --git a/openarm_bimanual_moveit_config/launch/move_group.launch.py b/openarm_bimanual_moveit_config/launch/move_group.launch.py index b9d4183..9aa5682 100644 --- a/openarm_bimanual_moveit_config/launch/move_group.launch.py +++ b/openarm_bimanual_moveit_config/launch/move_group.launch.py @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + from moveit_configs_utils import MoveItConfigsBuilder from moveit_configs_utils.launches import generate_move_group_launch diff --git a/openarm_bimanual_moveit_config/launch/moveit_rviz.launch.py b/openarm_bimanual_moveit_config/launch/moveit_rviz.launch.py index 27933bd..012c446 100644 --- a/openarm_bimanual_moveit_config/launch/moveit_rviz.launch.py +++ b/openarm_bimanual_moveit_config/launch/moveit_rviz.launch.py @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + from moveit_configs_utils import MoveItConfigsBuilder from moveit_configs_utils.launches import generate_moveit_rviz_launch diff --git a/openarm_bimanual_moveit_config/launch/rsp.launch.py b/openarm_bimanual_moveit_config/launch/rsp.launch.py index d80af03..3c6b7b6 100644 --- a/openarm_bimanual_moveit_config/launch/rsp.launch.py +++ b/openarm_bimanual_moveit_config/launch/rsp.launch.py @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + from moveit_configs_utils import MoveItConfigsBuilder from moveit_configs_utils.launches import generate_rsp_launch diff --git a/openarm_bimanual_moveit_config/launch/setup_assistant.launch.py b/openarm_bimanual_moveit_config/launch/setup_assistant.launch.py index 88b6d5b..68e6ec9 100644 --- a/openarm_bimanual_moveit_config/launch/setup_assistant.launch.py +++ b/openarm_bimanual_moveit_config/launch/setup_assistant.launch.py @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + from moveit_configs_utils import MoveItConfigsBuilder from moveit_configs_utils.launches import generate_setup_assistant_launch diff --git a/openarm_bimanual_moveit_config/launch/spawn_controllers.launch.py b/openarm_bimanual_moveit_config/launch/spawn_controllers.launch.py index 2723c17..c2a6deb 100644 --- a/openarm_bimanual_moveit_config/launch/spawn_controllers.launch.py +++ b/openarm_bimanual_moveit_config/launch/spawn_controllers.launch.py @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + from moveit_configs_utils import MoveItConfigsBuilder from moveit_configs_utils.launches import generate_spawn_controllers_launch diff --git a/openarm_bimanual_moveit_config/launch/static_virtual_joint_tfs.launch.py b/openarm_bimanual_moveit_config/launch/static_virtual_joint_tfs.launch.py index 556a736..4838cdf 100644 --- a/openarm_bimanual_moveit_config/launch/static_virtual_joint_tfs.launch.py +++ b/openarm_bimanual_moveit_config/launch/static_virtual_joint_tfs.launch.py @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + from moveit_configs_utils import MoveItConfigsBuilder from moveit_configs_utils.launches import generate_static_virtual_joint_tfs_launch diff --git a/openarm_bimanual_moveit_config/launch/warehouse_db.launch.py b/openarm_bimanual_moveit_config/launch/warehouse_db.launch.py index e392922..bef5622 100644 --- a/openarm_bimanual_moveit_config/launch/warehouse_db.launch.py +++ b/openarm_bimanual_moveit_config/launch/warehouse_db.launch.py @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + from moveit_configs_utils import MoveItConfigsBuilder from moveit_configs_utils.launches import generate_warehouse_db_launch diff --git a/openarm_bimanual_moveit_config/package.xml b/openarm_bimanual_moveit_config/package.xml index 8d71cfc..d44a158 100644 --- a/openarm_bimanual_moveit_config/package.xml +++ b/openarm_bimanual_moveit_config/package.xml @@ -1,4 +1,19 @@ + openarm_bimanual_moveit_config @@ -8,7 +23,7 @@ Thomason Zhou - BSD + Apache-2.0 http://moveit.ros.org/ https://github.com/ros-planning/moveit2/issues diff --git a/openarm_bringup/CMakeLists.txt b/openarm_bringup/CMakeLists.txt index 451f441..e59468f 100644 --- a/openarm_bringup/CMakeLists.txt +++ b/openarm_bringup/CMakeLists.txt @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + cmake_minimum_required(VERSION 3.8) project(openarm_bringup) diff --git a/openarm_bringup/LICENSE b/openarm_bringup/LICENSE index 574ef07..d645695 100644 --- a/openarm_bringup/LICENSE +++ b/openarm_bringup/LICENSE @@ -1,25 +1,202 @@ -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - * Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ - * Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION - * Neither the name of the copyright holder nor the names of its - contributors may be used to endorse or promote products derived from - this software without specific prior written permission. + 1. Definitions. -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE -LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -POSSIBILITY OF SUCH DAMAGE. + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. For the purposes of this definition, "submitted" + means any form of electronic, verbal, or written communication sent + to the Licensor or its representatives, including but not limited to + communication on electronic mailing lists, source code control systems, + and issue tracking systems that are managed by, or on behalf of, the + Licensor for the purpose of discussing and improving the Work, but + excluding communication that is conspicuously marked or otherwise + designated in writing by the copyright owner as "Not a Contribution." + + "Contributor" shall mean Licensor and any individual or Legal Entity + on behalf of whom a Contribution has been received by Licensor and + subsequently incorporated within the Work. + + 2. Grant of Copyright License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + copyright license to reproduce, prepare Derivative Works of, + publicly display, publicly perform, sublicense, and distribute the + Work and such Derivative Works in Source or Object form. + + 3. Grant of Patent License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + (except as stated in this section) patent license to make, have made, + use, offer to sell, sell, import, and otherwise transfer the Work, + where such license applies only to those patent claims licensable + by such Contributor that are necessarily infringed by their + Contribution(s) alone or by combination of their Contribution(s) + with the Work to which such Contribution(s) was submitted. If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + 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. diff --git a/openarm_bringup/launch/openarm.launch.py b/openarm_bringup/launch/openarm.launch.py index 555ffbb..84994ac 100644 --- a/openarm_bringup/launch/openarm.launch.py +++ b/openarm_bringup/launch/openarm.launch.py @@ -1,4 +1,5 @@ -# Copyright (c) 2024, Stogl Robotics Consulting UG (haftungsbeschränkt) +# Copyright 2025 Reazon Holdings, Inc. +# Copyright 2024 Stogl Robotics Consulting UG (haftungsbeschränkt) # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. diff --git a/openarm_bringup/launch/test_forward_position_controller.launch.py b/openarm_bringup/launch/test_forward_position_controller.launch.py index e6a4b3a..d8ccf5d 100644 --- a/openarm_bringup/launch/test_forward_position_controller.launch.py +++ b/openarm_bringup/launch/test_forward_position_controller.launch.py @@ -1,4 +1,5 @@ -# Copyright (c) 2024, Stogl Robotics Consulting UG (haftungsbeschränkt) +# Copyright 2025 Reazon Holdings, Inc. +# Copyright 2024 Stogl Robotics Consulting UG (haftungsbeschränkt) # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. diff --git a/openarm_bringup/launch/test_joint_trajectory_controller.launch.py b/openarm_bringup/launch/test_joint_trajectory_controller.launch.py index f882dfe..b084e7f 100644 --- a/openarm_bringup/launch/test_joint_trajectory_controller.launch.py +++ b/openarm_bringup/launch/test_joint_trajectory_controller.launch.py @@ -1,4 +1,5 @@ -# Copyright (c) 2024, Stogl Robotics Consulting UG (haftungsbeschränkt) +# Copyright 2025 Reazon Holdings, Inc. +# Copyright 2024 Stogl Robotics Consulting UG (haftungsbeschränkt) # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. diff --git a/openarm_bringup/package.xml b/openarm_bringup/package.xml index d070cb3..3344e56 100644 --- a/openarm_bringup/package.xml +++ b/openarm_bringup/package.xml @@ -1,11 +1,26 @@ + openarm_bringup 0.3.0 Bringup script for OpenArm Thomason Zhou - BSD-3-Clause + Apache-2.0 ament_cmake diff --git a/openarm_bringup/utils/init_can.sh b/openarm_bringup/utils/init_can.sh index 522bc80..fc22b74 100755 --- a/openarm_bringup/utils/init_can.sh +++ b/openarm_bringup/utils/init_can.sh @@ -1,4 +1,19 @@ #!/bin/bash +# +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. +# # This script initializes the CAN interface on a Linux system. echo Using CAN interface: $1 with $2 @@ -12,4 +27,4 @@ bitrate=1000000 sudo slcand -o -c -s8 $1 sudo ip link set $2 type can bitrate $bitrate sudo ip link set $2 up -sudo ip link show $2 \ No newline at end of file +sudo ip link show $2 diff --git a/openarm_description/CMakeLists.txt b/openarm_description/CMakeLists.txt index fdc67b9..67c236a 100644 --- a/openarm_description/CMakeLists.txt +++ b/openarm_description/CMakeLists.txt @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + cmake_minimum_required(VERSION 3.8) project(openarm_description) diff --git a/openarm_description/LICENSE b/openarm_description/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/openarm_description/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. For the purposes of this definition, "submitted" + means any form of electronic, verbal, or written communication sent + to the Licensor or its representatives, including but not limited to + communication on electronic mailing lists, source code control systems, + and issue tracking systems that are managed by, or on behalf of, the + Licensor for the purpose of discussing and improving the Work, but + excluding communication that is conspicuously marked or otherwise + designated in writing by the copyright owner as "Not a Contribution." + + "Contributor" shall mean Licensor and any individual or Legal Entity + on behalf of whom a Contribution has been received by Licensor and + subsequently incorporated within the Work. + + 2. Grant of Copyright License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + copyright license to reproduce, prepare Derivative Works of, + publicly display, publicly perform, sublicense, and distribute the + Work and such Derivative Works in Source or Object form. + + 3. Grant of Patent License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + (except as stated in this section) patent license to make, have made, + use, offer to sell, sell, import, and otherwise transfer the Work, + where such license applies only to those patent claims licensable + by such Contributor that are necessarily infringed by their + Contribution(s) alone or by combination of their Contribution(s) + with the Work to which such Contribution(s) was submitted. If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + 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. diff --git a/openarm_description/config/initial_positions.yaml b/openarm_description/config/initial_positions.yaml index b636de3..3db675f 100644 --- a/openarm_description/config/initial_positions.yaml +++ b/openarm_description/config/initial_positions.yaml @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + # Default initial positions for openarm's ros2_control fake system initial_positions: diff --git a/openarm_description/launch/description.launch.py b/openarm_description/launch/description.launch.py index 69b9c33..090c640 100644 --- a/openarm_description/launch/description.launch.py +++ b/openarm_description/launch/description.launch.py @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + from pathlib import Path import launch diff --git a/openarm_description/launch/display.launch.py b/openarm_description/launch/display.launch.py index 2a69799..50794c7 100644 --- a/openarm_description/launch/display.launch.py +++ b/openarm_description/launch/display.launch.py @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + from pathlib import Path import launch diff --git a/openarm_description/launch/gazebo.launch.py b/openarm_description/launch/gazebo.launch.py index 90042c4..b47c27f 100644 --- a/openarm_description/launch/gazebo.launch.py +++ b/openarm_description/launch/gazebo.launch.py @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + import os import re import subprocess diff --git a/openarm_description/package.xml b/openarm_description/package.xml index e82b731..1ec339e 100644 --- a/openarm_description/package.xml +++ b/openarm_description/package.xml @@ -1,11 +1,26 @@ + openarm_description 0.3.0 URDF with optional configuration parameters for OpenArm Thomason Zhou - BSD-3-Clause + Apache-2.0 ament_cmake diff --git a/openarm_description/rviz/robot_description.rviz b/openarm_description/rviz/robot_description.rviz index f55f68d..24332d8 100644 --- a/openarm_description/rviz/robot_description.rviz +++ b/openarm_description/rviz/robot_description.rviz @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + Panels: - Class: rviz_common/Displays Help Height: 71 diff --git a/openarm_description/urdf/openarm.ros2_control.xacro b/openarm_description/urdf/openarm.ros2_control.xacro index 2f7d915..a06b9ed 100644 --- a/openarm_description/urdf/openarm.ros2_control.xacro +++ b/openarm_description/urdf/openarm.ros2_control.xacro @@ -1,4 +1,19 @@ + diff --git a/openarm_description/urdf/openarm.urdf.xacro b/openarm_description/urdf/openarm.urdf.xacro index f9ab46f..c39005e 100644 --- a/openarm_description/urdf/openarm.urdf.xacro +++ b/openarm_description/urdf/openarm.urdf.xacro @@ -1,4 +1,19 @@ + diff --git a/openarm_description/urdf/openarm.xacro b/openarm_description/urdf/openarm.xacro index a06862b..9a8d6dc 100644 --- a/openarm_description/urdf/openarm.xacro +++ b/openarm_description/urdf/openarm.xacro @@ -1,4 +1,19 @@ + diff --git a/openarm_description/urdf/openarm_sensors.xacro b/openarm_description/urdf/openarm_sensors.xacro index 063dc54..e73e04d 100644 --- a/openarm_description/urdf/openarm_sensors.xacro +++ b/openarm_description/urdf/openarm_sensors.xacro @@ -1,4 +1,19 @@ + diff --git a/openarm_description/worlds/empty.sdf b/openarm_description/worlds/empty.sdf index 586f1de..16fd561 100644 --- a/openarm_description/worlds/empty.sdf +++ b/openarm_description/worlds/empty.sdf @@ -1,4 +1,19 @@ + diff --git a/openarm_hardware/CMakeLists.txt b/openarm_hardware/CMakeLists.txt index 3faea9e..a1eba6e 100644 --- a/openarm_hardware/CMakeLists.txt +++ b/openarm_hardware/CMakeLists.txt @@ -1,3 +1,18 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + + cmake_minimum_required(VERSION 3.8) project(openarm_hardware) diff --git a/openarm_hardware/LICENSE b/openarm_hardware/LICENSE index 574ef07..d645695 100644 --- a/openarm_hardware/LICENSE +++ b/openarm_hardware/LICENSE @@ -1,25 +1,202 @@ -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - * Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ - * Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION - * Neither the name of the copyright holder nor the names of its - contributors may be used to endorse or promote products derived from - this software without specific prior written permission. + 1. Definitions. -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE -LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -POSSIBILITY OF SUCH DAMAGE. + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. For the purposes of this definition, "submitted" + means any form of electronic, verbal, or written communication sent + to the Licensor or its representatives, including but not limited to + communication on electronic mailing lists, source code control systems, + and issue tracking systems that are managed by, or on behalf of, the + Licensor for the purpose of discussing and improving the Work, but + excluding communication that is conspicuously marked or otherwise + designated in writing by the copyright owner as "Not a Contribution." + + "Contributor" shall mean Licensor and any individual or Legal Entity + on behalf of whom a Contribution has been received by Licensor and + subsequently incorporated within the Work. + + 2. Grant of Copyright License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + copyright license to reproduce, prepare Derivative Works of, + publicly display, publicly perform, sublicense, and distribute the + Work and such Derivative Works in Source or Object form. + + 3. Grant of Patent License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + (except as stated in this section) patent license to make, have made, + use, offer to sell, sell, import, and otherwise transfer the Work, + where such license applies only to those patent claims licensable + by such Contributor that are necessarily infringed by their + Contribution(s) alone or by combination of their Contribution(s) + with the Work to which such Contribution(s) was submitted. If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + 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. diff --git a/openarm_hardware/include/openarm_hardware/canbus.hpp b/openarm_hardware/include/openarm_hardware/canbus.hpp index 023bac5..dfa42a7 100644 --- a/openarm_hardware/include/openarm_hardware/canbus.hpp +++ b/openarm_hardware/include/openarm_hardware/canbus.hpp @@ -1,3 +1,17 @@ +// Copyright 2025 Reazon Holdings, Inc. +// +// 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 #include diff --git a/openarm_hardware/include/openarm_hardware/motor.hpp b/openarm_hardware/include/openarm_hardware/motor.hpp index 5fd2968..e006ee2 100644 --- a/openarm_hardware/include/openarm_hardware/motor.hpp +++ b/openarm_hardware/include/openarm_hardware/motor.hpp @@ -1,3 +1,17 @@ +// Copyright 2025 Reazon Holdings, Inc. +// +// 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 #include diff --git a/openarm_hardware/include/openarm_hardware/motor_control.hpp b/openarm_hardware/include/openarm_hardware/motor_control.hpp index 62495c2..57660a8 100644 --- a/openarm_hardware/include/openarm_hardware/motor_control.hpp +++ b/openarm_hardware/include/openarm_hardware/motor_control.hpp @@ -1,3 +1,17 @@ +// Copyright 2025 Reazon Holdings, Inc. +// +// 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 #include diff --git a/openarm_hardware/include/openarm_hardware/openarm_hardware.hpp b/openarm_hardware/include/openarm_hardware/openarm_hardware.hpp index 6662a69..6ae13aa 100644 --- a/openarm_hardware/include/openarm_hardware/openarm_hardware.hpp +++ b/openarm_hardware/include/openarm_hardware/openarm_hardware.hpp @@ -1,5 +1,5 @@ -// Copyright (c) 2025, Reazon Holdings, Inc. -// Copyright (c) 2025, Stogl Robotics Consulting UG (haftungsbeschränkt) +// Copyright 2025 Reazon Holdings, Inc. +// Copyright 2025 Stogl Robotics Consulting UG (haftungsbeschränkt) // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/openarm_hardware/include/openarm_hardware/visibility_control.h b/openarm_hardware/include/openarm_hardware/visibility_control.h index a2ed64d..b45d9f8 100644 --- a/openarm_hardware/include/openarm_hardware/visibility_control.h +++ b/openarm_hardware/include/openarm_hardware/visibility_control.h @@ -1,5 +1,5 @@ -// Copyright (c) 2025, Reazon Holdings, Inc. -// Copyright (c) 2025, Stogl Robotics Consulting UG (haftungsbeschränkt) +// Copyright 2025 Reazon Holdings, Inc. +// Copyright 2025 Stogl Robotics Consulting UG (haftungsbeschränkt) // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/openarm_hardware/openarm_hardware.xml b/openarm_hardware/openarm_hardware.xml index 3542069..72a8735 100644 --- a/openarm_hardware/openarm_hardware.xml +++ b/openarm_hardware/openarm_hardware.xml @@ -1,3 +1,19 @@ + + + openarm_hardware 0.3.0 Hardware interface for OpenArm Thomason Zhou - BSD-3-Clause + Apache-2.0 ament_cmake diff --git a/openarm_hardware/setup.bash b/openarm_hardware/setup.bash index 6005104..f6c4d0f 100755 --- a/openarm_hardware/setup.bash +++ b/openarm_hardware/setup.bash @@ -1,4 +1,18 @@ #!/bin/bash +# +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. CAN_INTERFACE=can0 @@ -17,4 +31,4 @@ fi sudo pkill -f slcand sudo slcand -o -c -s8 "$DEVICE" "$CAN_INTERFACE" sudo ip link set "$CAN_INTERFACE" up type can bitrate 1000000 -ip link show "$CAN_INTERFACE" \ No newline at end of file +ip link show "$CAN_INTERFACE" diff --git a/openarm_hardware/src/canbus.cpp b/openarm_hardware/src/canbus.cpp index 615c07b..a49d2b5 100644 --- a/openarm_hardware/src/canbus.cpp +++ b/openarm_hardware/src/canbus.cpp @@ -1,3 +1,17 @@ +// Copyright 2025 Reazon Holdings, Inc. +// +// 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 "openarm_hardware/canbus.hpp" CANBus::CANBus(const std::string& interface, int mode) : mode_(mode) { diff --git a/openarm_hardware/src/motor.cpp b/openarm_hardware/src/motor.cpp index 85d7cc4..06069ba 100644 --- a/openarm_hardware/src/motor.cpp +++ b/openarm_hardware/src/motor.cpp @@ -1,3 +1,17 @@ +// Copyright 2025 Reazon Holdings, Inc. +// +// 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 OPENARM_MOTOR_H_ #define OPENARM_MOTOR_H_ diff --git a/openarm_hardware/src/motor_control.cpp b/openarm_hardware/src/motor_control.cpp index 61f41a5..c5adfde 100644 --- a/openarm_hardware/src/motor_control.cpp +++ b/openarm_hardware/src/motor_control.cpp @@ -1,3 +1,17 @@ +// Copyright 2025 Reazon Holdings, Inc. +// +// 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 "openarm_hardware/motor_control.hpp" #include "openarm_hardware/motor.hpp" diff --git a/openarm_hardware/src/openarm_hardware.cpp b/openarm_hardware/src/openarm_hardware.cpp index 0a632b5..00d9ed5 100644 --- a/openarm_hardware/src/openarm_hardware.cpp +++ b/openarm_hardware/src/openarm_hardware.cpp @@ -1,5 +1,5 @@ -// Copyright (c) 2025, Reazon Holdings, Inc. -// Copyright (c) 2025, Stogl Robotics Consulting UG (haftungsbeschränkt) +// Copyright 2025 Reazon Holdings, Inc. +// Copyright 2025 Stogl Robotics Consulting UG (haftungsbeschränkt) // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/openarm_hardware/test/test_openarm_hardware.cpp b/openarm_hardware/test/test_openarm_hardware.cpp index 88d7706..1f64b27 100644 --- a/openarm_hardware/test/test_openarm_hardware.cpp +++ b/openarm_hardware/test/test_openarm_hardware.cpp @@ -1,5 +1,5 @@ -// Copyright (c) 2025, Reazon Holdings, Inc. -// Copyright (c) 2025, Stogl Robotics Consulting UG (haftungsbeschränkt) +// Copyright 2025 Reazon Holdings, Inc. +// Copyright 2025 Stogl Robotics Consulting UG (haftungsbeschränkt) // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/openarm_moveit_config/.setup_assistant b/openarm_moveit_config/.setup_assistant index 049131a..eb38e7c 100644 --- a/openarm_moveit_config/.setup_assistant +++ b/openarm_moveit_config/.setup_assistant @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + moveit_setup_assistant_config: urdf: package: openarm_description @@ -7,4 +21,4 @@ moveit_setup_assistant_config: package_settings: author_name: Thomason Zhou author_email: t95zhou@uwaterloo.ca - generated_timestamp: 1744186910 \ No newline at end of file + generated_timestamp: 1744186910 diff --git a/openarm_moveit_config/CMakeLists.txt b/openarm_moveit_config/CMakeLists.txt index 98304b6..e8e0fd6 100644 --- a/openarm_moveit_config/CMakeLists.txt +++ b/openarm_moveit_config/CMakeLists.txt @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + cmake_minimum_required(VERSION 3.22) project(openarm_moveit_config) diff --git a/openarm_moveit_config/LICENSE b/openarm_moveit_config/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/openarm_moveit_config/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. For the purposes of this definition, "submitted" + means any form of electronic, verbal, or written communication sent + to the Licensor or its representatives, including but not limited to + communication on electronic mailing lists, source code control systems, + and issue tracking systems that are managed by, or on behalf of, the + Licensor for the purpose of discussing and improving the Work, but + excluding communication that is conspicuously marked or otherwise + designated in writing by the copyright owner as "Not a Contribution." + + "Contributor" shall mean Licensor and any individual or Legal Entity + on behalf of whom a Contribution has been received by Licensor and + subsequently incorporated within the Work. + + 2. Grant of Copyright License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + copyright license to reproduce, prepare Derivative Works of, + publicly display, publicly perform, sublicense, and distribute the + Work and such Derivative Works in Source or Object form. + + 3. Grant of Patent License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + (except as stated in this section) patent license to make, have made, + use, offer to sell, sell, import, and otherwise transfer the Work, + where such license applies only to those patent claims licensable + by such Contributor that are necessarily infringed by their + Contribution(s) alone or by combination of their Contribution(s) + with the Work to which such Contribution(s) was submitted. If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + 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. diff --git a/openarm_moveit_config/config/initial_positions.yaml b/openarm_moveit_config/config/initial_positions.yaml index 11d9ef4..a2c6c67 100644 --- a/openarm_moveit_config/config/initial_positions.yaml +++ b/openarm_moveit_config/config/initial_positions.yaml @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + # Default initial positions for openarm's ros2_control fake system initial_positions: @@ -8,4 +22,4 @@ initial_positions: rev4: 0 rev5: 0 rev6: 0 - rev7: 0 \ No newline at end of file + rev7: 0 diff --git a/openarm_moveit_config/config/joint_limits.yaml b/openarm_moveit_config/config/joint_limits.yaml index 88f6c0d..ae728d2 100644 --- a/openarm_moveit_config/config/joint_limits.yaml +++ b/openarm_moveit_config/config/joint_limits.yaml @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed # For beginners, we downscale velocity and acceleration limits. @@ -52,4 +66,4 @@ joint_limits: has_velocity_limits: false max_velocity: 0 has_acceleration_limits: false - max_acceleration: 0 \ No newline at end of file + max_acceleration: 0 diff --git a/openarm_moveit_config/config/kinematics.yaml b/openarm_moveit_config/config/kinematics.yaml index 413bf0c..c9955ce 100644 --- a/openarm_moveit_config/config/kinematics.yaml +++ b/openarm_moveit_config/config/kinematics.yaml @@ -1,4 +1,18 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + openarm_arm: kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin kinematics_solver_search_resolution: 0.0050000000000000001 - kinematics_solver_timeout: 0.0050000000000000001 \ No newline at end of file + kinematics_solver_timeout: 0.0050000000000000001 diff --git a/openarm_moveit_config/config/moveit.rviz b/openarm_moveit_config/config/moveit.rviz index a323fcf..f8fc9ee 100644 --- a/openarm_moveit_config/config/moveit.rviz +++ b/openarm_moveit_config/config/moveit.rviz @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + Panels: - Class: rviz_common/Displays Name: Displays diff --git a/openarm_moveit_config/config/moveit_controllers.yaml b/openarm_moveit_config/config/moveit_controllers.yaml index e36ca6a..40a1051 100644 --- a/openarm_moveit_config/config/moveit_controllers.yaml +++ b/openarm_moveit_config/config/moveit_controllers.yaml @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + # MoveIt uses this configuration for controller management moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager @@ -24,4 +38,4 @@ moveit_simple_controller_manager: joints: - left_pris1 action_ns: gripper_cmd - default: true \ No newline at end of file + default: true diff --git a/openarm_moveit_config/config/ompl_planning.yaml b/openarm_moveit_config/config/ompl_planning.yaml index 96e2be2..f7e463b 100644 --- a/openarm_moveit_config/config/ompl_planning.yaml +++ b/openarm_moveit_config/config/ompl_planning.yaml @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + openarm_moveit_config: default_planner_config: RRTConnect planner_configs: diff --git a/openarm_moveit_config/config/openarm.srdf b/openarm_moveit_config/config/openarm.srdf index 92d400c..3fadaf8 100644 --- a/openarm_moveit_config/config/openarm.srdf +++ b/openarm_moveit_config/config/openarm.srdf @@ -1,4 +1,19 @@ + diff --git a/openarm_moveit_config/config/pilz_cartesian_limits.yaml b/openarm_moveit_config/config/pilz_cartesian_limits.yaml index b2997ca..38b142a 100644 --- a/openarm_moveit_config/config/pilz_cartesian_limits.yaml +++ b/openarm_moveit_config/config/pilz_cartesian_limits.yaml @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + # Limits for the Pilz planner cartesian_limits: max_trans_vel: 1.0 diff --git a/openarm_moveit_config/config/ros2_controllers.yaml b/openarm_moveit_config/config/ros2_controllers.yaml index 913303a..a487dcc 100644 --- a/openarm_moveit_config/config/ros2_controllers.yaml +++ b/openarm_moveit_config/config/ros2_controllers.yaml @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + # This config file is used by ros2_control controller_manager: ros__parameters: @@ -32,4 +46,4 @@ openarm_arm_controller: - velocity state_interfaces: - position - - velocity \ No newline at end of file + - velocity diff --git a/openarm_moveit_config/config/sensors_3d.yaml b/openarm_moveit_config/config/sensors_3d.yaml index 99dcaeb..eb9e006 100644 --- a/openarm_moveit_config/config/sensors_3d.yaml +++ b/openarm_moveit_config/config/sensors_3d.yaml @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + sensors: - default_sensor - kinect_depthimage @@ -22,4 +36,4 @@ kinect_depthimage: padding_scale: 4.0 queue_size: 5 sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater - shadow_threshold: 0.2 \ No newline at end of file + shadow_threshold: 0.2 diff --git a/openarm_moveit_config/launch/demo.launch.py b/openarm_moveit_config/launch/demo.launch.py index b74a3b1..a1a92c3 100644 --- a/openarm_moveit_config/launch/demo.launch.py +++ b/openarm_moveit_config/launch/demo.launch.py @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + from moveit_configs_utils import MoveItConfigsBuilder from moveit_configs_utils.launches import generate_demo_launch diff --git a/openarm_moveit_config/launch/move_group.launch.py b/openarm_moveit_config/launch/move_group.launch.py index 06f38ff..f1c0f3a 100644 --- a/openarm_moveit_config/launch/move_group.launch.py +++ b/openarm_moveit_config/launch/move_group.launch.py @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + from moveit_configs_utils import MoveItConfigsBuilder from moveit_configs_utils.launches import generate_move_group_launch diff --git a/openarm_moveit_config/launch/moveit_rviz.launch.py b/openarm_moveit_config/launch/moveit_rviz.launch.py index c9815b6..bfdf3b3 100644 --- a/openarm_moveit_config/launch/moveit_rviz.launch.py +++ b/openarm_moveit_config/launch/moveit_rviz.launch.py @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + from moveit_configs_utils import MoveItConfigsBuilder from moveit_configs_utils.launches import generate_moveit_rviz_launch diff --git a/openarm_moveit_config/launch/rsp.launch.py b/openarm_moveit_config/launch/rsp.launch.py index 2f40bee..b3ad3f7 100644 --- a/openarm_moveit_config/launch/rsp.launch.py +++ b/openarm_moveit_config/launch/rsp.launch.py @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + from moveit_configs_utils import MoveItConfigsBuilder from moveit_configs_utils.launches import generate_rsp_launch diff --git a/openarm_moveit_config/launch/setup_assistant.launch.py b/openarm_moveit_config/launch/setup_assistant.launch.py index d8016bf..a33577d 100644 --- a/openarm_moveit_config/launch/setup_assistant.launch.py +++ b/openarm_moveit_config/launch/setup_assistant.launch.py @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + from moveit_configs_utils import MoveItConfigsBuilder from moveit_configs_utils.launches import generate_setup_assistant_launch diff --git a/openarm_moveit_config/launch/spawn_controllers.launch.py b/openarm_moveit_config/launch/spawn_controllers.launch.py index be7db39..fd236ab 100644 --- a/openarm_moveit_config/launch/spawn_controllers.launch.py +++ b/openarm_moveit_config/launch/spawn_controllers.launch.py @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + from moveit_configs_utils import MoveItConfigsBuilder from moveit_configs_utils.launches import generate_spawn_controllers_launch diff --git a/openarm_moveit_config/launch/static_virtual_joint_tfs.launch.py b/openarm_moveit_config/launch/static_virtual_joint_tfs.launch.py index 1eedb5a..d716687 100644 --- a/openarm_moveit_config/launch/static_virtual_joint_tfs.launch.py +++ b/openarm_moveit_config/launch/static_virtual_joint_tfs.launch.py @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + from moveit_configs_utils import MoveItConfigsBuilder from moveit_configs_utils.launches import generate_static_virtual_joint_tfs_launch diff --git a/openarm_moveit_config/launch/warehouse_db.launch.py b/openarm_moveit_config/launch/warehouse_db.launch.py index 6f9214b..59430a5 100644 --- a/openarm_moveit_config/launch/warehouse_db.launch.py +++ b/openarm_moveit_config/launch/warehouse_db.launch.py @@ -1,3 +1,17 @@ +# Copyright 2025 Reazon Holdings, Inc. +# +# 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. + from moveit_configs_utils import MoveItConfigsBuilder from moveit_configs_utils.launches import generate_warehouse_db_launch diff --git a/openarm_moveit_config/package.xml b/openarm_moveit_config/package.xml index d9bf70b..ebabcae 100644 --- a/openarm_moveit_config/package.xml +++ b/openarm_moveit_config/package.xml @@ -1,4 +1,19 @@ + openarm_moveit_config @@ -8,7 +23,7 @@ Thomason Zhou - BSD + Apache-2.0 http://moveit.ros.org/ https://github.com/ros-planning/moveit2/issues