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ArduPilot / ardupilot_gazebo

Plugins and models for vehicle simulation in Gazebo Sim with ArduPilot SITL controllers
GNU Lesser General Public License v3.0
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Change license from GPLv3+ to LGPLv3+ #96

Closed khancyr closed 3 weeks ago

khancyr commented 2 months ago

This change of license intend to allow broader usage of our gazebo plugin by including it into larger gazebo changes.

I am not even sure we could have use the GPLv3 license in first place.

The change is not retroactive, so the anything before this commit can still be used as GPLv3 code, and forked as such. This change will also apply to Gazebo-classic plugin for the few that still use it.

I will try to contact every contributors. The full list is bellow, it it be updated with the answers from the devs.

Just ack with an OK or something visible ! thanks

41Mo commented 2 months ago

I'm totally ok with this change

srmainwaring commented 2 months ago

@khancyr - I support. The license comments in the source code need to be updated to LGPLv3.

We'll need to check the status of these files taken from the core ArduPilot codebase:

This file has the wrong notice in it (the header is ok):

These files are Apache License, Version 2.0, although ArduPilot should also be in the copyright as there is only a small amount of residual code from the original versions now.

The ArduCopterIRLockPlugin has not been ported to Gazebo Garden/Harmonic - we could just remove it? It's been kept as a reference in case someone wanted the feature, but no one has asked (someone will now though - for sure).

The package.xml file used by the colcon build has a license field.

ahcorde commented 2 months ago

I'm totally ok with this change

clydemcqueen commented 2 months ago

I support, thanks

khancyr commented 2 months ago

@srmainwaring thanks for pointing this.

I have remove the IRLock plugin. We got other way to do this in SITL now so we can deprecate this. For parachute : from history, it looks like it was taken from px4 repo, so it should be Apache 2, shouldn't it ?

We need to check the issue with Socket.h/cpp as they are taken from ardupilot ... so theorically they inherit from the GPL and will mess up with everything.

khancyr commented 2 months ago

tridge peterbarker staroselskii muramura lucasdemarchi

SocketAPM only have a few contributors, so we could ask them too to relicense our fork. Before spamming everybody with this, I have ask first Tridge on about this as he is the main author.

kant commented 2 months ago

I'm totally ok with this change

tridge commented 1 month ago

@khancyr I'm happy with the change

Rezenders commented 1 month ago

I am also happy with the changes

Ryanf55 commented 1 month ago

Awesome, everyone responded. Assuming we can get CI to pass, let's merge this in soon:)

srmainwaring commented 1 month ago

Awesome, everyone responded. Assuming we can get CI to pass, let's merge this in soon:)

Not quite so fast: Socket.h and Socket.cpp need to be replaced/rewritten as they are from ardupilot/libraries/AP_HAL/utility and licensed GPL.

Ryanf55 commented 1 month ago

I can help do that. Perhaps we can use it to switch to asio.

On Sun, Jul 21, 2024, 12:25 AM Rhys Mainwaring @.***> wrote:

Awesome, everyone responded. Assuming we can get CI to pass, let's merge this in soon:)

Not quite so fast: Socket.h and Socket.cpp need to be replaced/rewritten as they are from ardupilot/libraries/AP_HAL/utility and licensed GPL.

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khancyr commented 3 weeks ago

@Ryanf55 @srmainwaring socketAPM is dead. We should be good now !

srmainwaring commented 3 weeks ago

@Ryanf55 @srmainwaring socketAPM is dead. We should be good now !

@khancyr thanks for the changes. There is a lot going on in this PR. Can the code changes be split into a number of PRs, separate from the licence change as some of these are style changes and others such as the warning levels will need to be checked on various platforms.

In addition to the license change we have:

khancyr commented 3 weeks ago

yes I can move the non licenses related change to another PR

khancyr commented 3 weeks ago

@srmainwaring updated with only the changes need for the license update