diff --git a/.circleci/config.yml b/.circleci/config.yml
index 2637fde7..a8641fc6 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -1,3 +1,17 @@
+# Copyright 2022 Shadow Robot Company Ltd.
+#
+# This 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 version 2 of the License.
+#
+# 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/>.
+
 version: 2
 jobs:
   build:
diff --git a/aws.yml b/aws.yml
index e20780cd..f0049d20 100644
--- a/aws.yml
+++ b/aws.yml
@@ -1,3 +1,17 @@
+# Copyright 2022 Shadow Robot Company Ltd.
+#
+# This 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 version 2 of the License.
+#
+# 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/>.
+
 settings:
   machine_type: medium
   ubuntu:
diff --git a/shadow_robot_ethercat/package.xml b/shadow_robot_ethercat/package.xml
index 33b77995..cbddb37a 100644
--- a/shadow_robot_ethercat/package.xml
+++ b/shadow_robot_ethercat/package.xml
@@ -1,3 +1,16 @@
+<!--
+ Copyright 2022 Shadow Robot Company Ltd.
+ This 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 version 2 of the License.
+ 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/>.
+-->
+
 <package>
   <name>shadow_robot_ethercat</name>
   <version>1.4.0</version>
diff --git a/sr_edc_ethercat_drivers/ethercat_device_plugin.xml b/sr_edc_ethercat_drivers/ethercat_device_plugin.xml
index d9f336ff..2e1e118f 100644
--- a/sr_edc_ethercat_drivers/ethercat_device_plugin.xml
+++ b/sr_edc_ethercat_drivers/ethercat_device_plugin.xml
@@ -1,3 +1,16 @@
+<!--
+ Copyright 2022 Shadow Robot Company Ltd.
+ This 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 version 2 of the License.
+ 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/>.
+-->
+
 <library path="lib/libsr_edc_ethercat_drivers">
   <class name="0" type="SRBridge" base_class_type="EthercatDevice">
     <description>
diff --git a/sr_edc_ethercat_drivers/package.xml b/sr_edc_ethercat_drivers/package.xml
index 96acf1ce..ea14dc77 100644
--- a/sr_edc_ethercat_drivers/package.xml
+++ b/sr_edc_ethercat_drivers/package.xml
@@ -1,3 +1,16 @@
+<!--
+ Copyright 2022 Shadow Robot Company Ltd.
+ This 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 version 2 of the License.
+ 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/>.
+-->
+
 <package>
   <name>sr_edc_ethercat_drivers</name>
   <version>1.4.0</version>
diff --git a/sr_edc_ethercat_drivers/scripts/flash_all_motors.sh b/sr_edc_ethercat_drivers/scripts/flash_all_motors.sh
index bf84001e..8e81d177 100755
--- a/sr_edc_ethercat_drivers/scripts/flash_all_motors.sh
+++ b/sr_edc_ethercat_drivers/scripts/flash_all_motors.sh
@@ -1,4 +1,17 @@
 #!/bin/bash
+# Copyright 2022 Shadow Robot Company Ltd.
+#
+# This 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 version 2 of the License.
+#
+# 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/>.
 
 for i in {11..19} ; do
     echo "Flashing motor: $i"
diff --git a/sr_edc_launch/hand_ros_control_robot_params.xml b/sr_edc_launch/hand_ros_control_robot_params.xml
index 214d1cee..e7fd1b3e 100644
--- a/sr_edc_launch/hand_ros_control_robot_params.xml
+++ b/sr_edc_launch/hand_ros_control_robot_params.xml
@@ -1,3 +1,16 @@
+<!--
+ Copyright 2022 Shadow Robot Company Ltd.
+ This 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 version 2 of the License.
+ 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/>.
+-->
+
 <launch>
   <arg name="eth_port"/>
   <arg name="left_hand_filter" default="false"/>
diff --git a/sr_edc_launch/load_hand_parameters.xml b/sr_edc_launch/load_hand_parameters.xml
index e93181c7..badde884 100644
--- a/sr_edc_launch/load_hand_parameters.xml
+++ b/sr_edc_launch/load_hand_parameters.xml
@@ -1,3 +1,16 @@
+<!--
+ Copyright 2022 Shadow Robot Company Ltd.
+ This 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 version 2 of the License.
+ 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/>.
+-->
+
 <launch>
   <!-- Set use_ns to true if the hand_id is not empty string. This is necessary as group tag doesn't accept an empty 'ns' attribute   -->
   <arg name="use_ns" default="true"/>
diff --git a/sr_edc_launch/mappings/default_mappings/lh_E_v1.yaml b/sr_edc_launch/mappings/default_mappings/lh_E_v1.yaml
index 19fc9c3e..e6f96395 100644
--- a/sr_edc_launch/mappings/default_mappings/lh_E_v1.yaml
+++ b/sr_edc_launch/mappings/default_mappings/lh_E_v1.yaml
@@ -1,4 +1,17 @@
-##
+# Copyright 2022 Shadow Robot Company Ltd.
+#
+# This 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 version 2 of the License.
+#
+# 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/>.
+
 # This is the mapping from joint to motor index
 
 joint_to_motor_mapping: [
diff --git a/sr_edc_launch/mappings/default_mappings/lh_E_v3.yaml b/sr_edc_launch/mappings/default_mappings/lh_E_v3.yaml
index dc95719b..6bf28798 100644
--- a/sr_edc_launch/mappings/default_mappings/lh_E_v3.yaml
+++ b/sr_edc_launch/mappings/default_mappings/lh_E_v3.yaml
@@ -1,4 +1,17 @@
-##
+# Copyright 2022 Shadow Robot Company Ltd.
+#
+# This 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 version 2 of the License.
+#
+# 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/>.
+
 # This is the mapping from joint to motor index
 
 joint_to_motor_mapping: [
diff --git a/sr_edc_launch/mappings/default_mappings/lh_E_v4.yaml b/sr_edc_launch/mappings/default_mappings/lh_E_v4.yaml
index f1289927..70f40e78 100644
--- a/sr_edc_launch/mappings/default_mappings/lh_E_v4.yaml
+++ b/sr_edc_launch/mappings/default_mappings/lh_E_v4.yaml
@@ -1,4 +1,17 @@
-##
+# Copyright 2022 Shadow Robot Company Ltd.
+#
+# This 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 version 2 of the License.
+#
+# 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/>.
+
 # This is the mapping from joint to motor index
 
 joint_to_motor_mapping: [
diff --git a/sr_edc_launch/mappings/default_mappings/lh_E_v5.yaml b/sr_edc_launch/mappings/default_mappings/lh_E_v5.yaml
index fb3df7cb..4d99f831 100644
--- a/sr_edc_launch/mappings/default_mappings/lh_E_v5.yaml
+++ b/sr_edc_launch/mappings/default_mappings/lh_E_v5.yaml
@@ -1,4 +1,17 @@
-##
+# Copyright 2022 Shadow Robot Company Ltd.
+#
+# This 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 version 2 of the License.
+#
+# 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/>.
+
 # This is the mapping from joint to motor index
 
 joint_to_motor_mapping: [
diff --git a/sr_edc_launch/mappings/default_mappings/lh_muscle_v1.yaml b/sr_edc_launch/mappings/default_mappings/lh_muscle_v1.yaml
index a23b65d8..a91f570e 100644
--- a/sr_edc_launch/mappings/default_mappings/lh_muscle_v1.yaml
+++ b/sr_edc_launch/mappings/default_mappings/lh_muscle_v1.yaml
@@ -1,3 +1,17 @@
+# Copyright 2022 Shadow Robot Company Ltd.
+#
+# This 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 version 2 of the License.
+#
+# 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/>.
+
 ##
 # This file contains the mapping between the muscles and the joints:
 #
@@ -7,7 +21,6 @@
 #
 # Every muscle is defined by a pair [muscle_driver_ID, muscle_ID]
 # the muscle_ID is relative to a certain muscle driver, e.g. [0, 6] is the 6th muscle of the muscle driver 0.
-#
 ##
 
 joint_to_muscle_mapping: [
diff --git a/sr_edc_launch/mappings/default_mappings/rh_E_v1.yaml b/sr_edc_launch/mappings/default_mappings/rh_E_v1.yaml
index 50751f4d..1fee03c3 100644
--- a/sr_edc_launch/mappings/default_mappings/rh_E_v1.yaml
+++ b/sr_edc_launch/mappings/default_mappings/rh_E_v1.yaml
@@ -1,4 +1,17 @@
-##
+# Copyright 2022 Shadow Robot Company Ltd.
+#
+# This 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 version 2 of the License.
+#
+# 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/>.
+
 # This is the mapping from joint to motor index
 
 joint_to_motor_mapping: [
diff --git a/sr_edc_launch/mappings/default_mappings/rh_E_v2.yaml b/sr_edc_launch/mappings/default_mappings/rh_E_v2.yaml
index 7555445f..bd1e1030 100644
--- a/sr_edc_launch/mappings/default_mappings/rh_E_v2.yaml
+++ b/sr_edc_launch/mappings/default_mappings/rh_E_v2.yaml
@@ -1,4 +1,17 @@
-##
+# Copyright 2022 Shadow Robot Company Ltd.
+#
+# This 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 version 2 of the License.
+#
+# 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/>.
+
 # This is the mapping from joint to motor index
 
 joint_to_motor_mapping: [
diff --git a/sr_edc_launch/mappings/default_mappings/rh_E_v3.yaml b/sr_edc_launch/mappings/default_mappings/rh_E_v3.yaml
index fc61a9b2..3e470597 100644
--- a/sr_edc_launch/mappings/default_mappings/rh_E_v3.yaml
+++ b/sr_edc_launch/mappings/default_mappings/rh_E_v3.yaml
@@ -1,4 +1,17 @@
-##
+# Copyright 2022 Shadow Robot Company Ltd.
+#
+# This 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 version 2 of the License.
+#
+# 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/>.
+
 # This is the mapping from joint to motor index
 
 joint_to_motor_mapping: [
diff --git a/sr_edc_launch/mappings/default_mappings/rh_E_v3_no_lf.yaml b/sr_edc_launch/mappings/default_mappings/rh_E_v3_no_lf.yaml
index be9598cf..2ce18df7 100644
--- a/sr_edc_launch/mappings/default_mappings/rh_E_v3_no_lf.yaml
+++ b/sr_edc_launch/mappings/default_mappings/rh_E_v3_no_lf.yaml
@@ -1,4 +1,17 @@
-##
+# Copyright 2022 Shadow Robot Company Ltd.
+#
+# This 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 version 2 of the License.
+#
+# 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/>.
+
 # This is the mapping from joint to motor index
 
 joint_to_motor_mapping: [
diff --git a/sr_edc_launch/mappings/default_mappings/rh_E_v3_no_mf_rf_lf.yaml b/sr_edc_launch/mappings/default_mappings/rh_E_v3_no_mf_rf_lf.yaml
index ac012397..811faeb3 100644
--- a/sr_edc_launch/mappings/default_mappings/rh_E_v3_no_mf_rf_lf.yaml
+++ b/sr_edc_launch/mappings/default_mappings/rh_E_v3_no_mf_rf_lf.yaml
@@ -1,4 +1,17 @@
-##
+# Copyright 2022 Shadow Robot Company Ltd.
+#
+# This 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 version 2 of the License.
+#
+# 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/>.
+
 # This is the mapping from joint to motor index
 
 joint_to_motor_mapping: [
diff --git a/sr_edc_launch/mappings/default_mappings/rh_E_v4.yaml b/sr_edc_launch/mappings/default_mappings/rh_E_v4.yaml
index 92491061..acbcae68 100644
--- a/sr_edc_launch/mappings/default_mappings/rh_E_v4.yaml
+++ b/sr_edc_launch/mappings/default_mappings/rh_E_v4.yaml
@@ -1,4 +1,17 @@
-##
+# Copyright 2022 Shadow Robot Company Ltd.
+#
+# This 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 version 2 of the License.
+#
+# 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/>.
+
 # This is the mapping from joint to motor index
 
 joint_to_motor_mapping: [
diff --git a/sr_edc_launch/mappings/default_mappings/rh_E_v5.yaml b/sr_edc_launch/mappings/default_mappings/rh_E_v5.yaml
index f9bae9a0..57f1efe2 100644
--- a/sr_edc_launch/mappings/default_mappings/rh_E_v5.yaml
+++ b/sr_edc_launch/mappings/default_mappings/rh_E_v5.yaml
@@ -1,4 +1,17 @@
-##
+# Copyright 2022 Shadow Robot Company Ltd.
+#
+# This 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 version 2 of the License.
+#
+# 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/>.
+
 # This is the mapping from joint to motor index
 
 joint_to_motor_mapping: [
diff --git a/sr_edc_launch/mappings/default_mappings/rh_extra_lite_v1.yaml b/sr_edc_launch/mappings/default_mappings/rh_extra_lite_v1.yaml
index 82229015..45590ffd 100644
--- a/sr_edc_launch/mappings/default_mappings/rh_extra_lite_v1.yaml
+++ b/sr_edc_launch/mappings/default_mappings/rh_extra_lite_v1.yaml
@@ -1,4 +1,17 @@
-##
+# Copyright 2022 Shadow Robot Company Ltd.
+#
+# This 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 version 2 of the License.
+#
+# 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/>.
+
 # This is the mapping from joint to motor index
 
 joint_to_motor_mapping: [
diff --git a/sr_edc_launch/mappings/default_mappings/rh_lite_v1.yaml b/sr_edc_launch/mappings/default_mappings/rh_lite_v1.yaml
index 9b30cfee..3f10ce2f 100644
--- a/sr_edc_launch/mappings/default_mappings/rh_lite_v1.yaml
+++ b/sr_edc_launch/mappings/default_mappings/rh_lite_v1.yaml
@@ -1,4 +1,17 @@
-##
+# Copyright 2022 Shadow Robot Company Ltd.
+#
+# This 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 version 2 of the License.
+#
+# 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/>.
+
 # This is the mapping from joint to motor index
 
 joint_to_motor_mapping: [
diff --git a/sr_edc_launch/mappings/default_mappings/rh_muscle_v1.yaml b/sr_edc_launch/mappings/default_mappings/rh_muscle_v1.yaml
index a23b65d8..a91f570e 100644
--- a/sr_edc_launch/mappings/default_mappings/rh_muscle_v1.yaml
+++ b/sr_edc_launch/mappings/default_mappings/rh_muscle_v1.yaml
@@ -1,3 +1,17 @@
+# Copyright 2022 Shadow Robot Company Ltd.
+#
+# This 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 version 2 of the License.
+#
+# 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/>.
+
 ##
 # This file contains the mapping between the muscles and the joints:
 #
@@ -7,7 +21,6 @@
 #
 # Every muscle is defined by a pair [muscle_driver_ID, muscle_ID]
 # the muscle_ID is relative to a certain muscle driver, e.g. [0, 6] is the 6th muscle of the muscle driver 0.
-#
 ##
 
 joint_to_muscle_mapping: [
diff --git a/sr_edc_launch/mappings/default_mappings/sensor_to_joint.yaml b/sr_edc_launch/mappings/default_mappings/sensor_to_joint.yaml
index 9458162d..898fdf8b 100644
--- a/sr_edc_launch/mappings/default_mappings/sensor_to_joint.yaml
+++ b/sr_edc_launch/mappings/default_mappings/sensor_to_joint.yaml
@@ -1,3 +1,17 @@
+# Copyright 2022 Shadow Robot Company Ltd.
+#
+# This 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 version 2 of the License.
+#
+# 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/>.
+
 ##
 # This file contains the mapping between the sensor and the joints:
 #  a joint can be linked to more than one sensor
@@ -11,7 +25,6 @@
 #                   THJ5 = calibrate(THJ5_raw) )
 #  This is specified by the "1" at the beginning of the line for
 #  THJ5 and WRJ1
-#
 ##
 
 joint_to_sensor_mapping: [
diff --git a/sr_edc_launch/package.xml b/sr_edc_launch/package.xml
index 6392f0e0..e78f719c 100644
--- a/sr_edc_launch/package.xml
+++ b/sr_edc_launch/package.xml
@@ -1,3 +1,16 @@
+<!--
+ Copyright 2022 Shadow Robot Company Ltd.
+ This 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 version 2 of the License.
+ 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/>.
+-->
+
 <package>
   <name>sr_edc_launch</name>
   <version>1.4.0</version>
diff --git a/sr_edc_launch/sr_edc.launch b/sr_edc_launch/sr_edc.launch
index 45701a39..aecb5a31 100644
--- a/sr_edc_launch/sr_edc.launch
+++ b/sr_edc_launch/sr_edc.launch
@@ -1,3 +1,16 @@
+<!--
+ Copyright 2022 Shadow Robot Company Ltd.
+ This 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 version 2 of the License.
+ 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/>.
+-->
+
 <launch>
   <!-- Allows to specify the ethernet interface/s to be used. It defaults to the value of the env var ETHERCAT_PORT
        More than one interface can be specified by concatenating them using underscore as a separator (e.g eth1_eth2_eth3) -->
diff --git a/sr_edc_launch/sr_edc.machine b/sr_edc_launch/sr_edc.machine
index 4a5169d1..fe46fa2f 100644
--- a/sr_edc_launch/sr_edc.machine
+++ b/sr_edc_launch/sr_edc.machine
@@ -1,3 +1,16 @@
+<!--
+ Copyright 2022 Shadow Robot Company Ltd.
+ This 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 version 2 of the License.
+ 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/>.
+-->
+
 <launch>
   <machine name="local" address="localhost" default="true"/>
 
diff --git a/sr_edc_launch/sr_edc_bimanual.launch b/sr_edc_launch/sr_edc_bimanual.launch
index acbc75f9..8e65903e 100644
--- a/sr_edc_launch/sr_edc_bimanual.launch
+++ b/sr_edc_launch/sr_edc_bimanual.launch
@@ -1,3 +1,16 @@
+<!--
+ Copyright 2022 Shadow Robot Company Ltd.
+ This 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 version 2 of the License.
+ 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/>.
+-->
+
 <launch>
   <arg name="debug" default="false"/>
 
diff --git a/sr_edc_launch/sr_edc_bimanual_ros_control.launch b/sr_edc_launch/sr_edc_bimanual_ros_control.launch
index 7b0925f6..c6338d97 100644
--- a/sr_edc_launch/sr_edc_bimanual_ros_control.launch
+++ b/sr_edc_launch/sr_edc_bimanual_ros_control.launch
@@ -1,3 +1,16 @@
+<!--
+ Copyright 2022 Shadow Robot Company Ltd.
+ This 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 version 2 of the License.
+ 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/>.
+-->
+
 <launch>
   <arg name="debug" default="false"/>
 
diff --git a/sr_edc_launch/sr_edc_ros_control.launch b/sr_edc_launch/sr_edc_ros_control.launch
index 60883217..5888d02e 100644
--- a/sr_edc_launch/sr_edc_ros_control.launch
+++ b/sr_edc_launch/sr_edc_ros_control.launch
@@ -1,3 +1,16 @@
+<!--
+ Copyright 2022 Shadow Robot Company Ltd.
+ This 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 version 2 of the License.
+ 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/>.
+-->
+
 <launch>
   <arg name="debug" default="false"/>
 
diff --git a/sr_edc_muscle_tools/bin/calibrate_pressure_sensors.sh b/sr_edc_muscle_tools/bin/calibrate_pressure_sensors.sh
index 5f8e4063..ef34c1af 100755
--- a/sr_edc_muscle_tools/bin/calibrate_pressure_sensors.sh
+++ b/sr_edc_muscle_tools/bin/calibrate_pressure_sensors.sh
@@ -1,4 +1,17 @@
 #!/bin/bash
+# Copyright 2022 Shadow Robot Company Ltd.
+#
+# This 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 version 2 of the License.
+#
+# 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/>.
 
 DURATION=20000
 
diff --git a/sr_edc_muscle_tools/bin/empty.sh b/sr_edc_muscle_tools/bin/empty.sh
index 2ccb5a58..926ec14c 100755
--- a/sr_edc_muscle_tools/bin/empty.sh
+++ b/sr_edc_muscle_tools/bin/empty.sh
@@ -1,4 +1,17 @@
 #!/bin/bash
+# Copyright 2022 Shadow Robot Company Ltd.
+#
+# This 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 version 2 of the License.
+#
+# 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/>.
 
 DURATION=$2
 
diff --git a/sr_edc_muscle_tools/bin/empty_all_valves.sh b/sr_edc_muscle_tools/bin/empty_all_valves.sh
index 743bfc62..545c7fec 100755
--- a/sr_edc_muscle_tools/bin/empty_all_valves.sh
+++ b/sr_edc_muscle_tools/bin/empty_all_valves.sh
@@ -1,4 +1,17 @@
 #!/bin/bash
+# Copyright 2022 Shadow Robot Company Ltd.
+#
+# This 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 version 2 of the License.
+#
+# 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/>.
 
 DURATION=5000
 
diff --git a/sr_edc_muscle_tools/bin/extend.sh b/sr_edc_muscle_tools/bin/extend.sh
index de527614..c07416f1 100755
--- a/sr_edc_muscle_tools/bin/extend.sh
+++ b/sr_edc_muscle_tools/bin/extend.sh
@@ -1,4 +1,17 @@
 #!/bin/bash
+# Copyright 2022 Shadow Robot Company Ltd.
+#
+# This 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 version 2 of the License.
+#
+# 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/>.
 
 if [ $# -ne 2 ]; then
 	echo "Usage: $0 MUSCLE DURATION_MS";
diff --git a/sr_edc_muscle_tools/bin/flex.sh b/sr_edc_muscle_tools/bin/flex.sh
index 5aaff07e..7424de4b 100755
--- a/sr_edc_muscle_tools/bin/flex.sh
+++ b/sr_edc_muscle_tools/bin/flex.sh
@@ -1,4 +1,17 @@
 #!/bin/bash
+# Copyright 2022 Shadow Robot Company Ltd.
+#
+# This 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 version 2 of the License.
+#
+# 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/>.
 
 if [ $# -ne 2 ]; then
 	echo "Usage: $0 MUSCLE DURATION_MS";
diff --git a/sr_edc_muscle_tools/bin/start_position_controllers.sh b/sr_edc_muscle_tools/bin/start_position_controllers.sh
index 57e2acb3..abe516e9 100755
--- a/sr_edc_muscle_tools/bin/start_position_controllers.sh
+++ b/sr_edc_muscle_tools/bin/start_position_controllers.sh
@@ -1,4 +1,17 @@
 #!/bin/bash
+# Copyright 2022 Shadow Robot Company Ltd.
+#
+# This 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 version 2 of the License.
+#
+# 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/>.
 
 # We want only the position controllers running, so stop all running
 for name in $(rosrun controller_manager controller_manager list | grep running | cut -d ' ' -f 1); do
diff --git a/sr_edc_muscle_tools/bin/start_valve_controllers.sh b/sr_edc_muscle_tools/bin/start_valve_controllers.sh
index 681c2351..8f41c632 100755
--- a/sr_edc_muscle_tools/bin/start_valve_controllers.sh
+++ b/sr_edc_muscle_tools/bin/start_valve_controllers.sh
@@ -1,4 +1,17 @@
 #!/bin/bash
+# Copyright 2022 Shadow Robot Company Ltd.
+#
+# This 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 version 2 of the License.
+#
+# 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/>.
 
 # We want only the valve controllers running, so stop all running
 for name in $(rosrun controller_manager controller_manager list | grep running | cut -d ' ' -f 1); do
diff --git a/sr_edc_muscle_tools/bin/stop_all_controllers.sh b/sr_edc_muscle_tools/bin/stop_all_controllers.sh
index a786aede..a29f187d 100755
--- a/sr_edc_muscle_tools/bin/stop_all_controllers.sh
+++ b/sr_edc_muscle_tools/bin/stop_all_controllers.sh
@@ -1,4 +1,17 @@
 #!/bin/bash
+# Copyright 2022 Shadow Robot Company Ltd.
+#
+# This 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 version 2 of the License.
+#
+# 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/>.
 
 for name in $(rosrun controller_manager controller_manager list | grep running | cut -d ' ' -f 1); do
     rosrun controller_manager controller_manager stop $name
diff --git a/sr_edc_muscle_tools/package.xml b/sr_edc_muscle_tools/package.xml
index 6ad555f0..e65e6554 100644
--- a/sr_edc_muscle_tools/package.xml
+++ b/sr_edc_muscle_tools/package.xml
@@ -1,3 +1,16 @@
+<!--
+ Copyright 2022 Shadow Robot Company Ltd.
+ This 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 version 2 of the License.
+ 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/>.
+-->
+
 <package>
   <name>sr_edc_muscle_tools</name>
   <version>1.4.0</version>
diff --git a/sr_external_dependencies/package.xml b/sr_external_dependencies/package.xml
index a2fcc510..33179e70 100644
--- a/sr_external_dependencies/package.xml
+++ b/sr_external_dependencies/package.xml
@@ -1,3 +1,16 @@
+<!--
+ Copyright 2022 Shadow Robot Company Ltd.
+ This 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 version 2 of the License.
+ 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/>.
+-->
+
 <package>
   <name>sr_external_dependencies</name>
   <version>1.4.0</version>
diff --git a/sr_external_dependencies/rosdoc.yaml b/sr_external_dependencies/rosdoc.yaml
index 420236ac..9eb621a5 100644
--- a/sr_external_dependencies/rosdoc.yaml
+++ b/sr_external_dependencies/rosdoc.yaml
@@ -1,2 +1,16 @@
+# Copyright 2022 Shadow Robot Company Ltd.
+#
+# This 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 version 2 of the License.
+#
+# 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/>.
+
 - builder: doxygen
   exclude_patterns: '*/released/*'
diff --git a/sr_external_dependencies/scripts/make_release.sh b/sr_external_dependencies/scripts/make_release.sh
index d4b20753..22928dba 100755
--- a/sr_external_dependencies/scripts/make_release.sh
+++ b/sr_external_dependencies/scripts/make_release.sh
@@ -1,4 +1,17 @@
 #!/bin/bash
+# Copyright 2022 Shadow Robot Company Ltd.
+#
+# This 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 version 2 of the License.
+#
+# 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/>.
 
 PREVIOUS_PATH=`pwd`
 START_PATH="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
diff --git a/sr_external_dependencies/scripts/update_header.sh b/sr_external_dependencies/scripts/update_header.sh
index 54f3dff0..50a956a9 100755
--- a/sr_external_dependencies/scripts/update_header.sh
+++ b/sr_external_dependencies/scripts/update_header.sh
@@ -1,4 +1,17 @@
 #!/bin/bash
+# Copyright 2022 Shadow Robot Company Ltd.
+#
+# This 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 version 2 of the License.
+#
+# 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/>.
 
 TEMP_GIT_REPO_PATH=/tmp/firmware
 PREVIOUS_PATH=`pwd`
diff --git a/sr_external_dependencies/tested_version.yaml b/sr_external_dependencies/tested_version.yaml
index de41b2a7..43cab61f 100644
--- a/sr_external_dependencies/tested_version.yaml
+++ b/sr_external_dependencies/tested_version.yaml
@@ -1 +1,15 @@
+# Copyright 2022 Shadow Robot Company Ltd.
+#
+# This 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 version 2 of the License.
+#
+# 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/>.
+
 protocol_common:2153 ; protocol_motor:2153 ; protocol_muscle:2153 ; protocol_ubi_ts:2153 ; bootloader:2153 ; firmware:2153M ; git_shadow:3936836 ; git_ethercat:c59b132
diff --git a/sr_robot_lib/launch/sr_hand_lib.launch b/sr_robot_lib/launch/sr_hand_lib.launch
index 46b527d6..cebd6bac 100644
--- a/sr_robot_lib/launch/sr_hand_lib.launch
+++ b/sr_robot_lib/launch/sr_hand_lib.launch
@@ -1,3 +1,16 @@
+<!--
+ Copyright 2022 Shadow Robot Company Ltd.
+ This 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 version 2 of the License.
+ 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/>.
+-->
+
 <launch>
   <!-- Defines the sub-directory used in
        and $(find srhand_config)/<hand_serial>/calibrations/
diff --git a/sr_robot_lib/package.xml b/sr_robot_lib/package.xml
index fdfb44d0..e3022f4c 100644
--- a/sr_robot_lib/package.xml
+++ b/sr_robot_lib/package.xml
@@ -1,3 +1,16 @@
+<!--
+ Copyright 2022 Shadow Robot Company Ltd.
+ This 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 version 2 of the License.
+ 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/>.
+-->
+
 <package>
   <name>sr_robot_lib</name>
   <version>1.4.0</version>
diff --git a/sr_robot_lib/test/config/calibration.yaml b/sr_robot_lib/test/config/calibration.yaml
index edbe30f9..67939bff 100644
--- a/sr_robot_lib/test/config/calibration.yaml
+++ b/sr_robot_lib/test/config/calibration.yaml
@@ -1,3 +1,17 @@
+# Copyright 2022 Shadow Robot Company Ltd.
+#
+# This 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 version 2 of the License.
+#
+# 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/>.
+
 sr_calibrations: [
   ["FFJ1", [ [0.0,  0.0],
              [1.0, 1.0] ]],   #FFJ1
diff --git a/sr_tactile_sensor_controller/package.xml b/sr_tactile_sensor_controller/package.xml
index 814d5b7b..dcf13cf0 100644
--- a/sr_tactile_sensor_controller/package.xml
+++ b/sr_tactile_sensor_controller/package.xml
@@ -1,4 +1,16 @@
 <?xml version="1.0"?>
+<!--
+ Copyright 2022 Shadow Robot Company Ltd.
+ This 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 version 2 of the License.
+ 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/>.
+-->
 <package>
   <name>sr_tactile_sensor_controller</name>
   <version>0.0.1</version>
diff --git a/sr_tactile_sensor_controller/sr_tactile_sensor.launch b/sr_tactile_sensor_controller/sr_tactile_sensor.launch
index c9d2d96f..e6434f5a 100644
--- a/sr_tactile_sensor_controller/sr_tactile_sensor.launch
+++ b/sr_tactile_sensor_controller/sr_tactile_sensor.launch
@@ -1,3 +1,16 @@
+<!--
+ Copyright 2022 Shadow Robot Company Ltd.
+ This 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 version 2 of the License.
+ 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/>.
+-->
+
 <launch>
   <arg name="hand_id" default=""/>
   <arg name="hand_serial" default=""/>
diff --git a/sr_tactile_sensor_controller/sr_tactile_sensor_plugin.xml b/sr_tactile_sensor_controller/sr_tactile_sensor_plugin.xml
index bf76c8cb..6e23d49e 100644
--- a/sr_tactile_sensor_controller/sr_tactile_sensor_plugin.xml
+++ b/sr_tactile_sensor_controller/sr_tactile_sensor_plugin.xml
@@ -1,3 +1,16 @@
+<!--
+ Copyright 2022 Shadow Robot Company Ltd.
+ This 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 version 2 of the License.
+ 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/>.
+-->
+
 <library path="lib/libsr_tactile_sensor_controller">  
   <class name="sr_tactile_sensor_controller/SrTactileSensorController" type="controller::SrTactileSensorController" base_class_type="controller_interface::ControllerBase">
     <description>