Adding License Headers for wam_node.cpp, Currently GPL as it is a wrapper of Libbarre...

diff --git a/wam_robot/stack.xml b/wam_robot/stack.xml
index f359a55..2e50540 100644 (file)
--- a/wam_robot/stack.xml
+++ b/wam_robot/stack.xml
@@ -4,7 +4,7 @@
   barrett-ros-pkg is based on Barrett Technology's libbarrett C++ Control Library.  The following stack describing packages designed to run on a 4-DOF or 7-DOF WAM with or without a BarrettHand via the onboard WAM PC or external control PC.
 
   <author>Barrett Technology Inc., Kyle Maroney</author>
-  <license>BSD</license>
+  <license>GPL</license>
   <url>http://ros.org/wiki/wam_robot</url>
   <depend stack="ros" />
 </stack>

diff --git a/wam_robot/wam_node/manifest.xml b/wam_robot/wam_node/manifest.xml
index b815a1f..5c792ee 100644 (file)
--- a/wam_robot/wam_node/manifest.xml
+++ b/wam_robot/wam_node/manifest.xml
@@ -5,7 +5,7 @@
 
   </description>
   <author>Barrett Technology Inc., Kyle Maroney</author>
-  <license>BSD</license>
+  <license>GPL</license>
   <url>http://ros.org/wiki/wam_node</url>
   <depend package="std_msgs"/>
   <depend package="std_srvs"/>

diff --git a/wam_robot/wam_node/src/wam_node.cpp b/wam_robot/wam_node/src/wam_node.cpp
index 0126436..7d879c0 100644 (file)
--- a/wam_robot/wam_node/src/wam_node.cpp
+++ b/wam_robot/wam_node/src/wam_node.cpp
@@ -1,3 +1,32 @@
+/*
+        Copyright 2012 Barrett Technology <support@barrett.com>
+
+        This file is part of barrett-ros-pkg.
+
+        This version of barrett-ros-pkg 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, either version 3 of the
+        License, or (at your option) any later version.
+
+        This version of barrett-ros-pkg 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 version of barrett-ros-pkg.  If not, see
+        <http://www.gnu.org/licenses/>.
+
+        Barrett Technology holds all copyrights on barrett-ros-pkg. As the sole
+        copyright holder, Barrett reserves the right to release future versions 
+        of barrett-ros-pkg under a different license.
+       
+        File: wam_node.cpp
+        Date: 5 June, 2012
+        Author: Kyle Maroney
+*/
+
+
 #include <unistd.h>
 #include <math.h>
 
@@ -39,27 +68,6 @@ static const double SPEED = 0.03; // Default Cartesian Velocity
 
 using namespace barrett;
 
-//Some templated functions for 4-dof & 7-dof interchangeability
-template<size_t DOF>
-  systems::Wam<DOF>*
-  getWam(ProductManager& pm)
-  {
-    assert(false);
-    return NULL;
-  }
-template<>
-  systems::Wam<7>*
-  getWam(ProductManager& pm)
-  {
-    return pm.getWam7(false);
-  }
-template<>
-  systems::Wam<4>*
-  getWam(ProductManager& pm)
-  {
-    return pm.getWam4(false);
-  }
-
 //Creating a templated multiplier for our real-time computation
 template<typename T1, typename T2, typename OutputType>
   class Multiplier : public systems::System, public systems::SingleOutput<OutputType>