feat: add license (#6)

navyu_costmap_2d/include/navyu_costmap_2d/navyu_costmap_2d.hpp

@@ -1,3 +1,17 @@
+// Copyright 2024 RyuYamamoto.
+//
+// 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 NAVYU_COSTMAP_2D__NAVYU_COSTMAP_2D_HPP_
 #define NAVYU_COSTMAP_2D__NAVYU_COSTMAP_2D_HPP_
 

navyu_costmap_2d/include/navyu_costmap_2d/plugins/inflation_layer.hpp

@@ -1,3 +1,17 @@
+// Copyright 2024 RyuYamamoto.
+//
+// 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 NAVYU_COSTMAP_2D__PLUGINS__INFLATION_LAYER_HPP_
 #define NAVYU_COSTMAP_2D__PLUGINS__INFLATION_LAYER_HPP_
 

navyu_costmap_2d/include/navyu_costmap_2d/plugins/layer.hpp

@@ -1,3 +1,17 @@
+// Copyright 2024 RyuYamamoto.
+//
+// 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 NAVYU_COSTMAP_2D__PLUGINS__LAYER_HPP_
 #define NAVYU_COSTMAP_2D__PLUGINS__LAYER_HPP_
 

navyu_costmap_2d/include/navyu_costmap_2d/plugins/static_layer.hpp

@@ -1,3 +1,17 @@
+// Copyright 2024 RyuYamamoto.
+//
+// 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 NAVYU_COSTMAP_2D__PLUGINS__STATIC_LAYER_HPP_
 #define NAVYU_COSTMAP_2D__PLUGINS__STATIC_LAYER_HPP_
 

navyu_costmap_2d/launch/navyu_costmap_2d.launch.py

@@ -1,3 +1,17 @@
+# Copyright 2024 RyuYamamoto.
+#
+# 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_ros.actions import Node
 
 from launch import LaunchDescription

navyu_costmap_2d/src/navyu_costmap_2d.cpp

@@ -1,3 +1,17 @@
+// Copyright 2024 RyuYamamoto.
+//
+// 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 "navyu_costmap_2d/navyu_costmap_2d.hpp"
 
 #include "navyu_costmap_2d/plugins/inflation_layer.hpp"

navyu_navigation/launch/localization.launch.py

@@ -1,3 +1,17 @@
+# Copyright 2024 RyuYamamoto.
+#
+# 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
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
@@ -6,75 +20,77 @@
 from launch_ros.substitutions import FindPackageShare
 from launch_ros.actions import Node
 
+
 def generate_launch_description():
 
-  use_sim_time = LaunchConfiguration('use_sim_time')
-  amcl_config_path = LaunchConfiguration('amcl_config_path')
-  map_path = LaunchConfiguration('map_path')
+    use_sim_time = LaunchConfiguration("use_sim_time")
+    amcl_config_path = LaunchConfiguration("amcl_config_path")
+    map_path = LaunchConfiguration("map_path")
 
-  costmap_config_path = PathJoinSubstitution(
-    [FindPackageShare('navyu_navigation'),
-     'config', 'global_costmap_params.yaml']
-  )
+    costmap_config_path = PathJoinSubstitution(
+        [FindPackageShare("navyu_navigation"), "config", "global_costmap_params.yaml"]
+    )
 
-  use_sim_time_cmd = DeclareLaunchArgument(
-    'use_sim_time', default_value='true', description=''
-  )
+    use_sim_time_cmd = DeclareLaunchArgument("use_sim_time", default_value="true", description="")
 
-  amcl_config_path_cmd = DeclareLaunchArgument(
-    'amcl_config_path',
-    default_value=PathJoinSubstitution([FindPackageShare('navyu_navigation'), 'config', 'amcl_params.yaml']),
-    description=''
-  )
+    amcl_config_path_cmd = DeclareLaunchArgument(
+        "amcl_config_path",
+        default_value=PathJoinSubstitution(
+            [FindPackageShare("navyu_navigation"), "config", "amcl_params.yaml"]
+        ),
+        description="",
+    )
 
-  map_path_cmd = DeclareLaunchArgument(
-    'map_path',
-    default_value=PathJoinSubstitution([FindPackageShare('navyu_navigation'), 'map', 'map.yaml'])
-  )
+    map_path_cmd = DeclareLaunchArgument(
+        "map_path",
+        default_value=PathJoinSubstitution(
+            [FindPackageShare("navyu_navigation"), "map", "map.yaml"]
+        ),
+    )
 
-  amcl_node = Node(
-    package='nav2_amcl',
-    executable='amcl',
-    name='amcl',
-    output='screen',
-    parameters=[amcl_config_path, {'use_sim_time': use_sim_time}],
-  )
+    amcl_node = Node(
+        package="nav2_amcl",
+        executable="amcl",
+        name="amcl",
+        output="screen",
+        parameters=[amcl_config_path, {"use_sim_time": use_sim_time}],
+    )
 
-  map_server_node = Node(
-    package='nav2_map_server',
-    executable='map_server',
-    name='map_server',
-    parameters=[{'yaml_filename': map_path}, {'frame_id': 'map'}]
-  )
-
-  lifecycle_node = Node(
-    package='nav2_lifecycle_manager',
-    executable='lifecycle_manager',
-    name='lifecycle_manager',
-    output='screen',
-    emulate_tty=True,
-    parameters=[{'use_sim_time': use_sim_time},
-                {'autostart': True},
-                {'node_names': ['map_server', 'amcl']}]
-  )
+    map_server_node = Node(
+        package="nav2_map_server",
+        executable="map_server",
+        name="map_server",
+        parameters=[{"yaml_filename": map_path}, {"frame_id": "map"}],
+    )
 
-  rviz_config = os.path.join(get_package_share_directory('navyu_navigation'), 'rviz', 'navigation.rviz')
-  rviz_node = Node(
-    package='rviz2',
-    executable='rviz2',
-    name='rviz2',
-    arguments=['-d', rviz_config]
-  )
+    lifecycle_node = Node(
+        package="nav2_lifecycle_manager",
+        executable="lifecycle_manager",
+        name="lifecycle_manager",
+        output="screen",
+        emulate_tty=True,
+        parameters=[
+            {"use_sim_time": use_sim_time},
+            {"autostart": True},
+            {"node_names": ["map_server", "amcl"]},
+        ],
+    )
 
+    rviz_config = os.path.join(
+        get_package_share_directory("navyu_navigation"), "rviz", "navigation.rviz"
+    )
+    rviz_node = Node(
+        package="rviz2", executable="rviz2", name="rviz2", arguments=["-d", rviz_config]
+    )
 
-  ld = LaunchDescription()
+    ld = LaunchDescription()
 
-  ld.add_action(use_sim_time_cmd)
-  ld.add_action(amcl_config_path_cmd)
-  ld.add_action(map_path_cmd)
-  ld.add_action(amcl_node)
-  ld.add_action(map_server_node)
-  ld.add_action(lifecycle_node)
-  ld.add_action(rviz_node)
+    ld.add_action(use_sim_time_cmd)
+    ld.add_action(amcl_config_path_cmd)
+    ld.add_action(map_path_cmd)
+    ld.add_action(amcl_node)
+    ld.add_action(map_server_node)
+    ld.add_action(lifecycle_node)
+    ld.add_action(rviz_node)
 
-  return ld
+    return ld