Surface reconstruction and Slam server

README.md

@@ -347,7 +347,7 @@ ament_lint_auto
 
 ## 📜 License
 
-This project is licensed under the **GNU General Public License v3.0 (GPL-3.0)**.  
+This project is licensed under the **Apache 2 License**.  
 See the [LICENSE](LICENSE) file for details.
 
 ---

navmap_core/include/navmap_core/Geometry.hpp

@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// 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
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// 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.
 
 /**
  * @file Geometry.hpp

navmap_core/package.xml

@@ -5,7 +5,8 @@
   <version>0.0.1</version>
   <description>Core C++ library for NavMap.</description>
   <maintainer email="fmrico@gmail.com">Francisco Martín Rico</maintainer>
-  <license>GPL-3.0-or-later</license>
+
+  <license>Apache License, Version 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 

navmap_core/src/navmap_core/NavMap.cpp

@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// 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
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// 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 "navmap_core/NavMap.hpp"

navmap_core/tests/test_geometry.cpp

@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// 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
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// 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 <gtest/gtest.h>
 #include <Eigen/Core>

navmap_core/tests/test_locate_grid.cpp

@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// 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
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// 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 <gtest/gtest.h>
 #include "navmap_core/NavMap.hpp"

navmap_core/tests/test_navmap.cpp

@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// 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
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// 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 <gtest/gtest.h>
 #include <Eigen/Core>

navmap_core/tests/test_navmap_easy.cpp

@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// 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
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// 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 <gtest/gtest.h>
 #include <Eigen/Core>

navmap_core/tests/test_navmap_uniform_and_closest.cpp

@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// 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
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// 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 <gtest/gtest.h>
 #include <Eigen/Core>

navmap_core/tests/test_raycast_many.cpp

@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// 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
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// 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 <gtest/gtest.h>
 #include "navmap_core/NavMap.hpp"

navmap_examples/package.xml

@@ -5,7 +5,8 @@
   <version>0.1.0</version>
   <description>Examples related to navmap_core y navmap_ros.</description>
   <maintainer email="fmrico@gmail.com">fmrico</maintainer>
-  <license>MIT</license>
+
+  <license>Apache License, Version 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 

navmap_examples/src/01_flat_plane.cpp

@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// 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
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// 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 <iostream>

navmap_examples/src/02_two_floors.cpp

@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// 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
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// 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 <iostream>

navmap_examples/src/03_slope_surface.cpp

@@ -1,21 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// 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
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// 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 <iostream>