Apache-2.0ライセンスを適用。バージョンを2.0.0に更新 (#156)

* ライセンスをApache-2.0へ変更

* package.xmlのバージョンとライセンスを変更

* cartesian_path_exampleのライセンス変更

* ライセンスに関わる文言を変更。開発について　の項目を追加

* CONTRIBUTING.mdを追加

* Pythonスクリプトにライセンスを明記

Co-authored-by: Daisuke Sato <[email protected]>

CONTRIBUTING.md

@@ -0,0 +1,26 @@
+# Contribution Guide
+
+本リポジトリへのコントリビュート方法について記載しています。
+
+## Issues
+
+リポジトリの品質向上にご協力頂きありがとうございます。
+
+Issueの作成を簡単にするテンプレートを用意しているので活用してください。
+
+## Pull Requests
+
+Pull Requestの作成ありがとうございます。
+提出したPull Request（PR）には次のルールが適用されます。
+
+- PRの内容には本リポジトリのライセンス（[LICENSE](./LICENSE)と[README.md](./README.md)に記載されています）が適用されます
+- PRは`rt-net`のメンバーによるレビューを経てからマージされます
+    - すべてのPRがマージされるわけではなく、希望に添えない場合もありますのでご容赦ください
+- リポジトリにテストが設定されている場合はできるだけテストを通してください
+  - 何かしらの理由（テストに間違いがある場合など）でテストを通さずPRを出す場合はその旨をPRに記載してください
+- マージする際にはPR内の全コミットが1つのコミットに`squash`されます
+  - [プルリクエストのコミットのsquashとマージ | GitHubヘルプ](https://help.github.com/ja/github/collaborating-with-issues-and-pull-requests/about-pull-request-merges#squash-and-merge-your-pull-request-commits)
+- 1つのPRでリクエストする変更はできるだけシンプルにしてください
+  - 異なる内容の変更を含む場合はPRを分割してください
+      - 例えば、複数の機能追加したり、機能追加とリファクタリングを同時にする場合はそれぞれ別々のPRとしてください
+  - squashマージしても履歴を辿りやすくするためです

README.en.md

@@ -149,8 +149,12 @@ To simulate CRANE-X7 on the table:
 
 ---
 
-### Proprietary Rights
+## License
 
-CRANE-X7 is an arm robot developed by RT Corporation for research purposes. Please read the license information contained in this repository to find out more about licensing. Companies are permitted to use CRANE-X7 and the materials made available here for internal, research and development purposes only. If you are interested in building your own robot for your personal use by utilizing the information made available here, take your time to visit our website and purchase relevant components and parts – that will certainly help us keep going! Otherwise, if you are interested in manufacturing and commercializing products based on the information herein, please contact us to arrange a license and collaboration agreement with us. 
+(C) 2018 RT Corporation \<[email protected]\>
 
-We have obtained permission from ROBOTIS Co., Ltd. to use CAD models relating to servo motors XM540 and XM430. The proprietary rights relating to any components or parts manufactured by ROBOTIS and used in this product, including but not limited to copyrights, trademarks, and other intellectual property rights, shall remain vested in ROBOTIS. 
+This repository is licensed under the Apache License, Version 2.0, see [LICENSE](./LICENSE).  
+Unless attributed otherwise, everything in this repository is under the Apache License, Version 2.0.
+
+The crane_x7_ros depends on [crane_x7_description](https://github.com/rt-net/crane_x7_description) package.
+The RT Corporation's [NON-COMMERCIAL LICENSE](https://github.com/rt-net/crane_x7_description/blob/master/LICENSE) applies to the package.

README.md

@@ -146,19 +146,22 @@ GazeboでCRANE-X7のシミュレーションを行うパッケージです。
 
 ---
 
-### 知的財産権について
+## ライセンス
 
-CRANE-X7は、アールティが開発した研究用アームロボットです。
-このリポジトリのデータ等に関するライセンスについては、LICENSEファイルをご参照ください。
-企業による使用については、自社内において研究開発をする目的に限り、本データの使用を許諾します。 
-本データを使って自作されたい方は、義務ではありませんが弊社ロボットショップで部品をお買い求めいただければ、励みになります。
-商業目的をもって本データを使用する場合は、商業用使用許諾の条件等について弊社までお問合せください。
+(C) 2018 RT Corporation \<[email protected]\>
 
-サーボモータのXM540やXM430に関するCADモデルの使用については、ROBOTIS社より使用許諾を受けています。 
-CRANE-X7に使用されているROBOTIS社の部品類にかかる著作権、商標権、その他の知的財産権は、ROBOTIS社に帰属します。
+各ファイルはライセンスがファイル中に明記されている場合、そのライセンスに従います。
+特に明記されていない場合は、Apache License, Version 2.0に基づき公開されています。  
+ライセンスの全文は[LICENSE](./LICENSE)または[https://www.apache.org/licenses/LICENSE-2.0](https://www.apache.org/licenses/LICENSE-2.0)から確認できます。
 
-### Proprietary Rights
+本パッケージが依存する[crane_x7_description](https://github.com/rt-net/crane_x7_description)には株式会社アールティの非商用ライセンスが適用されています。
+詳細は[crane_x7_description/LICENSE](https://github.com/rt-net/crane_x7_description/blob/master/LICENSE)を参照してください。
 
-CRANE-X7 is an arm robot developed by RT Corporation for research purposes. Please read the license information contained in this repository to find out more about licensing. Companies are permitted to use CRANE-X7 and the materials made available here for internal, research and development purposes only. If you are interested in building your own robot for your personal use by utilizing the information made available here, take your time to visit our website and purchase relevant components and parts – that will certainly help us keep going! Otherwise, if you are interested in manufacturing and commercializing products based on the information herein, please contact us to arrange a license and collaboration agreement with us. 
+## 開発について
 
-We have obtained permission from ROBOTIS Co., Ltd. to use CAD models relating to servo motors XM540 and XM430. The proprietary rights relating to any components or parts manufactured by ROBOTIS and used in this product, including but not limited to copyrights, trademarks, and other intellectual property rights, shall remain vested in ROBOTIS. 
+- 本ソフトウェアはオープンソースですが、開発はオープンではありません。
+- 本ソフトウェアは基本的にオープンソースソフトウェアとして「AS IS」（現状有姿のまま）で提供しています。
+- 本ソフトウェアに関する無償サポートはありません。
+- バグの修正や誤字脱字の修正に関するリクエストは常に受け付けていますが、
+それ以外の機能追加等のリクエストについては社内のガイドラインを優先します。
+詳しくは[コントリビューションガイドライン](./CONTRIBUTING.md)に従ってください。

crane_x7/package.xml

@@ -1,6 +1,6 @@
 <package>
   <name>crane_x7</name>
-  <version>1.0.0</version>
+  <version>2.0.0</version>
   <description>
     ROS package suite of CRANE-X7
   </description>
@@ -10,7 +10,7 @@
   <author email="[email protected]">Daisuke Sato</author>
   <author email="[email protected]">Shota Aoki</author>
 
-  <license>NON-COMMERCIAL LICENSE AGREEMENT</license>
+  <license>Apache License 2.0</license>
 
   <url type="website">http://wiki.ros.org/crane_x7</url>
   <url type="bugtracker">https://github.com/rt-net/crane_x7_ros/issues</url>

crane_x7_bringup/package.xml

@@ -1,13 +1,13 @@
 <?xml version="1.0"?>
 <package>
   <name>crane_x7_bringup</name>
-  <version>1.0.0</version>
+  <version>2.0.0</version>
   <description>The CRANE-X7 bringup package</description>
 
   <maintainer email="[email protected]">RT Corporation</maintainer>
   <author email="[email protected]">Daisuke Sato</author>
 
-  <license>NON-COMMERCIAL LICENSE AGREEMENT</license>
+  <license>Apache License 2.0</license>
 
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>crane_x7_moveit_config</build_depend>

crane_x7_control/package.xml

@@ -1,14 +1,14 @@
 <?xml version="1.0"?>
 <package>
   <name>crane_x7_control</name>
-  <version>1.0.0</version>
+  <version>2.0.0</version>
   <description>The CRANE-X7 control package</description>
 
   <maintainer email="[email protected]">RT Corporation</maintainer>
   <author email="[email protected]">Hiroyuki Nomura</author>
   <author email="[email protected]">Geoffrey Biggs</author>
 
-  <license>NON-COMMERCIAL LICENSE AGREEMENT</license>
+  <license>Apache License 2.0</license>
 
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>controller_manager</build_depend>

crane_x7_control/scripts/preset_reconfigure.py

@@ -1,6 +1,20 @@
 #!/usr/bin/env python
 # coding: utf-8
 
+# Copyright 2019 RT Corporation
+#
+# 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 roslib
 import rospy
 import dynamic_reconfigure.client

crane_x7_examples/package.xml

@@ -1,14 +1,14 @@
 <?xml version="1.0"?>
 <package>
   <name>crane_x7_examples</name>
-  <version>1.0.0</version>
+  <version>2.0.0</version>
   <description>examples of CRANE-X7 ROS package</description>
 
   <maintainer email="[email protected]">RT Corporation</maintainer>
   <author email="[email protected]">Daisuke Sato</author>
   <author email="[email protected]">Hiroyuki Nomura</author>
 
-  <license>NON-COMMERCIAL LICENSE AGREEMENT</license>
+  <license>Apache License 2.0</license>
 
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>crane_x7_moveit_config</build_depend>

crane_x7_examples/scripts/cartesian_path_example.py

@@ -3,9 +3,17 @@
 
 # Copyright 2020 RT Corporation
 #
-# Licensed under the RT Corporation NON-COMMERCIAL LICENSE.
-# Please see https://github.com/rt-net/crane_x7_ros/blob/master/LICENSE
-# for detail.
+# 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 rospy
 import moveit_commander

crane_x7_examples/scripts/crane_x7_pick_and_place_demo.py

@@ -1,6 +1,20 @@
 #! /usr/bin/env python
 # -*- coding: utf-8 -*-
 
+# Copyright 2018 RT Corporation
+#
+# 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 rospy
 import moveit_commander
 import geometry_msgs.msg

crane_x7_examples/scripts/gripper_action_example.py

@@ -1,6 +1,20 @@
 #!/usr/bin/env python
 # -*- coding: utf-8 -*-
 
+# Copyright 2018 RT Corporation
+#
+# 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.
+
 # このサンプルは実機動作のみに対応しています
 # fake_execution:=trueにすると、GripperCommandActionのサーバが立ち上がりません
 

crane_x7_examples/scripts/joint_values_example.py

@@ -1,6 +1,20 @@
 #! /usr/bin/env python
 # -*- coding: utf-8 -*-
 
+# Copyright 2019 RT Corporation
+#
+# 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 rospy
 import math
 import moveit_commander

crane_x7_examples/scripts/joystick_example.py

@@ -1,6 +1,20 @@
 #! /usr/bin/env python
 # -*- coding: utf-8 -*-
 
+# Copyright 2019 RT Corporation
+#
+# 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 rospy
 import moveit_commander
 from geometry_msgs.msg import Vector3, Quaternion

crane_x7_examples/scripts/obstacle_avoidance_example.py

@@ -1,6 +1,20 @@
 #! /usr/bin/env python
 # -*- coding: utf-8 -*-
 
+# Copyright 2019 RT Corporation
+#
+# 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 rospy
 import moveit_commander
 from geometry_msgs.msg import Pose, PoseStamped

crane_x7_examples/scripts/obstacle_client.py

@@ -1,6 +1,20 @@
 #! /usr/bin/env python
 # -*- coding: utf-8 -*-
 
+# Copyright 2019 RT Corporation
+#
+# 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 rospy
 import copy
 import math

crane_x7_examples/scripts/pick_and_place_in_gazebo_example.py

@@ -1,6 +1,20 @@
 #! /usr/bin/env python
 # -*- coding: utf-8 -*-
 
+# Copyright 2019 RT Corporation
+#
+# 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 rospy
 import moveit_commander
 import actionlib

crane_x7_examples/scripts/pose_groupstate_example.py

@@ -1,6 +1,20 @@
 #! /usr/bin/env python
 # -*- coding: utf-8 -*-
 
+# Copyright 2018 RT Corporation
+#
+# 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 rospy
 import moveit_commander
 import geometry_msgs.msg

crane_x7_examples/scripts/preset_pid_gain_example.py

@@ -1,6 +1,20 @@
 #! /usr/bin/env python
 # -*- coding: utf-8 -*-
 
+# Copyright 2019 RT Corporation
+#
+# 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 rospy
 import moveit_commander
 import geometry_msgs.msg

crane_x7_examples/scripts/servo_info_example.py

@@ -1,6 +1,20 @@
 #! /usr/bin/env python
 # -*- coding: utf-8 -*-
 
+# Copyright 2019 RT Corporation
+#
+# 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 rospy
 import moveit_commander
 from std_msgs.msg import Int16, Float64