56f98bd226
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
148 lines
3.2 KiB
YAML
148 lines
3.2 KiB
YAML
# Copyright 2025 Reazon Holdings, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# This config file is used by ros2_control
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controller_manager:
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ros__parameters:
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update_rate: 100 # Hz
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left_arm_controller:
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type: joint_trajectory_controller/JointTrajectoryController
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right_arm_controller:
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type: joint_trajectory_controller/JointTrajectoryController
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left_gripper_controller:
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type: position_controllers/GripperActionController
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right_gripper_controller:
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type: position_controllers/GripperActionController
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left_side_controller:
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type: joint_trajectory_controller/JointTrajectoryController
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right_side_controller:
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type: joint_trajectory_controller/JointTrajectoryController
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upper_body_controller:
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type: joint_trajectory_controller/JointTrajectoryController
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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left_arm_controller:
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ros__parameters:
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joints:
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- left_rev1
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- left_rev2
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- left_rev3
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- left_rev4
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- left_rev5
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- left_rev6
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- left_rev7
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command_interfaces:
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- position
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- velocity
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state_interfaces:
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- position
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- velocity
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right_arm_controller:
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ros__parameters:
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joints:
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- right_rev1
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- right_rev2
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- right_rev3
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- right_rev4
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- right_rev5
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- right_rev6
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- right_rev7
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command_interfaces:
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- position
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- velocity
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state_interfaces:
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- position
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- velocity
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left_gripper_controller:
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ros__parameters:
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joint: left_left_pris1
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right_gripper_controller:
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ros__parameters:
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joint: right_left_pris1
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left_side_controller:
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ros__parameters:
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joints:
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- left_rev1
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- left_rev2
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- left_rev3
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- left_rev4
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- left_rev5
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- left_rev6
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- left_rev7
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- left_left_pris1
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command_interfaces:
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- position
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- velocity
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state_interfaces:
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- position
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- velocity
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right_side_controller:
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ros__parameters:
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joints:
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- right_rev1
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- right_rev2
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- right_rev3
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- right_rev4
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- right_rev5
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- right_rev6
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- right_rev7
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- right_left_pris1
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command_interfaces:
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- position
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- velocity
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state_interfaces:
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- position
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- velocity
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upper_body_controller:
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ros__parameters:
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joints:
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- left_rev1
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- left_rev2
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- left_rev3
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- left_rev4
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- left_rev5
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- left_rev6
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- left_rev7
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- left_left_pris1
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- right_rev1
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- right_rev2
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- right_rev3
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- right_rev4
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- right_rev5
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- right_rev6
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- right_rev7
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- right_left_pris1
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command_interfaces:
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- position
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- velocity
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state_interfaces:
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- position
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- velocity
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