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The choice of license is available in the package.xml, which is availble in /opt/ros/hydro/share/package_name/package.xml.

The core ROS code is BSD license, as are many of the higher level packages that came out of Willow Garage (navigation, MoveIt). The notable exceptions to the BSD license are some of the libraries wrapped in (for instance, KDL is LGPL), and a few applications (slam_gmapping is actually Creative Commons non-commerical).