diff --git a/include/imu/factor/factor_imu2d_with_gravity.h b/include/imu/factor/factor_imu2d_with_gravity.h
index 8a681b5deaddb95d1de14aa184b0dc857612bba6..a61b04b8e961f0bcd4374b446815ec72ec4ea000 100644
--- a/include/imu/factor/factor_imu2d_with_gravity.h
+++ b/include/imu/factor/factor_imu2d_with_gravity.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// 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 Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef FACTOR_IMU2D_WITH_GRAVITY_H_
 #define FACTOR_IMU2D_WITH_GRAVITY_H_
 
diff --git a/include/imu/landmark/landmark_cell_gravity.h b/include/imu/landmark/landmark_cell_gravity.h
index 130294c03d87f8ba83e6846022a2c93688240ef2..6597b05996f9e122de7fef1ce93dd0b2aa739327 100644
--- a/include/imu/landmark/landmark_cell_gravity.h
+++ b/include/imu/landmark/landmark_cell_gravity.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// 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 Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef LANDMARK_CELL_GRAVITY_H_
 #define LANDMARK_CELL_GRAVITY_H_
 #include "core/landmark/landmark_base.h"
diff --git a/include/imu/map/map_grid_2d_gravity.h b/include/imu/map/map_grid_2d_gravity.h
index 6a7c1d238bbdbea68979446ddcfa04d68c0a5d0b..0689064ef44820c9aa4b618f7298bf49c24cb30b 100644
--- a/include/imu/map/map_grid_2d_gravity.h
+++ b/include/imu/map/map_grid_2d_gravity.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// 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 Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef MAP_GRID_2d_Gravity_H_
 #define MAP_GRID_2d_Gravity_H_
 
diff --git a/src/landmark/landmark_cell_gravity.cpp b/src/landmark/landmark_cell_gravity.cpp
index 413f2a4c6d461774cfc3f7720a161bae235c55ed..d41be21a5e7862c0bec6305ab578d525cc5a3d55 100644
--- a/src/landmark/landmark_cell_gravity.cpp
+++ b/src/landmark/landmark_cell_gravity.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// 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 Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "imu/landmark/landmark_cell_gravity.h"
 
 namespace wolf{
diff --git a/src/map/map_grid_2d_gravity.cpp b/src/map/map_grid_2d_gravity.cpp
index be7374cd6c17da84f02a860f8c91c54644fce106..eafc646a5b0b352a7d6cfc374a9b6fb87cef8beb 100644
--- a/src/map/map_grid_2d_gravity.cpp
+++ b/src/map/map_grid_2d_gravity.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// 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 Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "imu/map/map_grid_2d_gravity.h"
 #include "core/state_block/state_block.h"
 #include "imu/landmark/landmark_cell_gravity.h"
diff --git a/test/gtest_factor_imu2d_with_gravity.cpp b/test/gtest_factor_imu2d_with_gravity.cpp
index 0bf9d5cacaeeaa946e6ca9a849d2ea7be50650ef..931fcd3db298b8aa27e4f0a9edf189fbc98f9bb5 100644
--- a/test/gtest_factor_imu2d_with_gravity.cpp
+++ b/test/gtest_factor_imu2d_with_gravity.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// 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 Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include <core/ceres_wrapper/solver_ceres.h>
 #include <core/utils/utils_gtest.h>
 
diff --git a/test/gtest_map_grid_2d_gravity.cpp b/test/gtest_map_grid_2d_gravity.cpp
index 3f2f0c456e5aec3b62cf3fb2457420e03de562a3..a297a1d16cc5573145ab9d7a4c695949b9dff35c 100644
--- a/test/gtest_map_grid_2d_gravity.cpp
+++ b/test/gtest_map_grid_2d_gravity.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// 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 Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /**
  * \file gtest_processor_imu2d.cpp
  *
diff --git a/test/gtest_processor_imu2d_with_gravity.cpp b/test/gtest_processor_imu2d_with_gravity.cpp
index 72456d1dffa8623653daea6a06e2fd56a31acdc1..e62db80ef6c9bcd213eaf516ede25c482c35bb9b 100644
--- a/test/gtest_processor_imu2d_with_gravity.cpp
+++ b/test/gtest_processor_imu2d_with_gravity.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// 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 Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /**
  * \file gtest_processor_imu2d.cpp
  *