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pal-robotics / reem_teleop

Motion retargeting packages for teleoperating REEM.
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LGPL license for tree_kinematics package #3

Open bit-pirate opened 12 years ago

bit-pirate commented 12 years ago

The whole tree_kinematics package is licensed using the LPGL, which I think is not necessary. The only true LPGL file is the treeiksolverpos_online.cpp, since it was derived from the KDL's LGP-licensed KDL::TreeIkSolverPos_NR_JL class. Hence, I suggest to change the licenses to modified BSD for all files, but the treeiksolverpos_online.cpp and also modifiy the manifest accordingly. Do you agree with this?

Note: In the future I'd like to move this IK solver out of this package and back into KDL. In that way the package becomes completely clean of LGPL stuff.

bit-pirate commented 11 years ago

@adolfo-rt do you (PAL Robotics) agree with changing the lincensing to BSD for all files expect treeiksolverpos_online.hpp/.cpp?

adolfo-rt commented 11 years ago

I don't remember how the different files interact with one another, but if the BSD part uses the LGPL code in a way that is consistent with its terms, you can go for it. Please make sure that it is the case.