diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 3992d5228a42d6bd314a5cd513de230f1d431073..a1be383d98af509790a853925bcc303d40d5802c 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -1,4 +1,5 @@
 stages:
+  - license
   - none
   - csm
   - falko
@@ -25,28 +26,66 @@ stages:
 
   # update apt
   - apt-get update
+  - ldconfig
 
-.build_install_wolf_template: &build_install_wolf_definition
+  # create 'ci_deps' folder (if not exists)
+  - mkdir -pv ci_deps
+
+.install_wolf_template: &install_wolf_definition
+  - cd ${CI_PROJECT_DIR}/ci_deps
   - if [ -d wolf ]; then
   -   echo "directory wolf exists"
   -   cd wolf
   -   git pull
+  -   git checkout $WOLF_CORE_BRANCH
   - else
   -   git clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/wolf.git
   -   cd wolf
+  -   git checkout $WOLF_CORE_BRANCH
   - fi
   - mkdir -pv build
   - cd build
   - cmake -DCMAKE_BUILD_TYPE=release -DBUILD_EXAMPLES=ON -DBUILD_TESTS=ON ..
-  - make -j2
-  - ctest -j2
+  - make -j$(nproc)
+  - ctest -j$(nproc)
   - make install
-  - cd ../..
 
-.build_install_laserscanutils_template: &build_install_laserscanutils_definition
-  - if [ -d "/usr/local/include/csm" ]; then
-  -   echo "directory /usr/local/include/csm exists"
+.license_header_template: &license_header_definition
+  - cd $CI_PROJECT_DIR
+
+  # configure git
+  - export CI_NEW_BRANCH=ci_processing$RANDOM
+  - echo creating new temporary branch... $CI_NEW_BRANCH
+  - git config --global user.email "${CI_EMAIL}"
+  - git config --global user.name "${CI_USERNAME}"
+  - git checkout -b $CI_NEW_BRANCH # temporary branch
+
+  # license headers
+  - export CURRENT_YEAR=$( date +'%Y' )
+  - echo "current year:" ${CURRENT_YEAR}
+  - if [ -f license_header_${CURRENT_YEAR}.txt ]; then
+      # add license headers to new files
+  -   echo "File license_header_${CURRENT_YEAR}.txt already exists. License headers are assumed to be updated. Adding headers to new files..."
+  -   ./ci_deps/wolf/wolf_scripts/license_manager.sh --add --path=. --license-header=license_header_${CURRENT_YEAR}.txt --exclude=ci_deps
+  - else
+      # update license headers of all files
+  -   export PREV_YEAR=$(( CURRENT_YEAR-1 ))
+  -   echo "Creating new file license_header_${CURRENT_YEAR}.txt..."
+  -   git mv license_header_${PREV_YEAR}.txt license_header_${CURRENT_YEAR}.txt
+  -   sed -i "s/${PREV_YEAR}/${PREV_YEAR},${CURRENT_YEAR}/g" license_header_${CURRENT_YEAR}.txt
+  -   ./ci_deps/wolf/wolf_scripts/license_manager.sh --update --path=. --license-header=license_header_${CURRENT_YEAR}.txt --exclude=ci_deps
   - fi
+
+  # push changes (if any)
+  - if git commit -a -m "[skip ci] license headers added or modified" ; then
+  -   git remote set-url --push origin "ssh://git@gitlab.iri.upc.edu:2202/${CI_PROJECT_PATH}.git"
+  -   git push origin $CI_NEW_BRANCH:${CI_COMMIT_REF_NAME}
+  - else
+  -   echo "No changes, nothing to commit!"
+  - fi
+
+.install_laserscanutils_template: &install_laserscanutils_definition
+  - cd ${CI_PROJECT_DIR}/ci_deps
   - if [ -d laser_scan_utils ]; then
   -   echo "directory laser_scan_utils exists"
   -   cd laser_scan_utils
@@ -59,11 +98,11 @@ stages:
   - cd build
   - rm -rf *
   - cmake -DCMAKE_BUILD_TYPE=release ..
-  - make -j2
+  - make -j$(nproc)
   - make install
-  - cd ../..
 
-.build_install_csm_template: &build_install_csm_definition
+.install_csm_template: &install_csm_definition
+  - cd ${CI_PROJECT_DIR}/ci_deps
   - apt-get install -y libgsl-dev
   - if [ -d csm ]; then
   -   echo "directory csm exists"
@@ -74,11 +113,11 @@ stages:
   -   cd csm
   - fi
   - cmake .
-  - make -j2
+  - make -j$(nproc)
   - make install
-  - cd ..
 
-.build_install_falko_template: &build_install_falko_definition
+.install_falko_template: &install_falko_definition
+  - cd ${CI_PROJECT_DIR}/ci_deps
   - if [ -d falkolib ]; then
   -   echo "directory falkolib exists" 
   -   cd falkolib
@@ -90,213 +129,229 @@ stages:
   - mkdir -pv build
   - cd build
   - cmake ..
-  - make -j2
+  - make -j$(nproc)
   - make install
-  - cd ../..
 
 .build_and_test_template: &build_and_test_definition
+  - cd ${CI_PROJECT_DIR}
   - mkdir -pv build
   - cd build
   - cmake -DCMAKE_BUILD_TYPE=release -DBUILD_EXAMPLES=ON -DBUILD_TESTS=ON ..
-  - make -j2
+  - make -j$(nproc)
   - ctest 
   - make install
 
+############ LICENSE HEADERS ############
+license_headers:
+  stage: license
+  image: labrobotica/wolf_deps:16.04
+  cache:
+    - key: wolf-xenial
+      paths:
+      - ci_deps/wolf/
+  except:
+    - master
+  before_script:
+    - *preliminaries_definition
+    - *install_wolf_definition
+  script:
+    - *license_header_definition
+
 ############ UBUNTU 16.04 TESTS ############
-wolf_build_and_test_none:xenial:
+build_and_test_none:xenial:
   stage: none
   image: labrobotica/wolf_deps:16.04
   cache:
     - key: laserscanutils-xenial
       paths:
-      - laser_scan_utils/
+      - ci_deps/laser_scan_utils/
     - key: wolf-xenial
       paths:
-      - wolf/
+      - ci_deps/wolf/
   except:
     - master
   before_script:
     - *preliminaries_definition
-    - *build_install_wolf_definition
-    - *build_install_laserscanutils_definition
+    - *install_wolf_definition
+    - *install_laserscanutils_definition
     - ldconfig # update links (shared libraries)
   script:
     - *build_and_test_definition
 
-wolf_build_and_test_csm:xenial:
+build_and_test_csm:xenial:
   stage: csm
   image: labrobotica/wolf_deps:16.04
   cache:
     - key: wolf-xenial
       paths:
-      - wolf/
+      - ci_deps/wolf/
     - key: laserscanutils-xenial
       paths:
-      - laser_scan_utils/
+      - ci_deps/laser_scan_utils/
     - key: csm-xenial
       paths:
-      - csm/
+      - ci_deps/csm/
   except:
     - master
   before_script:
     - *preliminaries_definition
-    - *build_install_wolf_definition
-    - *build_install_csm_definition
-    - *build_install_laserscanutils_definition
+    - *install_wolf_definition
+    - *install_csm_definition
+    - *install_laserscanutils_definition
     - ldconfig # update links (shared libraries)
 
   script:
     - *build_and_test_definition
 
-wolf_build_and_test_falko:xenial:
+build_and_test_falko:xenial:
   stage: falko
   image: labrobotica/wolf_deps:16.04
   cache:
     - key: wolf-xenial
       paths:
-      - wolf/
+      - ci_deps/wolf/
     - key: laserscanutils-xenial
       paths:
-      - laser_scan_utils/
+      - ci_deps/laser_scan_utils/
     - key: falko-xenial
       paths:
-      - falkolib/
+      - ci_deps/falkolib/
   except:
     - master
   before_script:
     - *preliminaries_definition
-    - *build_install_wolf_definition
-    - *build_install_falko_definition
-    - *build_install_laserscanutils_definition
+    - *install_wolf_definition
+    - *install_falko_definition
+    - *install_laserscanutils_definition
     - ldconfig # update links (shared libraries)
 
   script:
     - *build_and_test_definition
     
-wolf_build_and_test_csm_falko:xenial:
+build_and_test_csm_falko:xenial:
   stage: csm_falko
   image: labrobotica/wolf_deps:16.04
   cache:
     - key: wolf-xenial
       paths:
-      - wolf/
+      - ci_deps/wolf/
     - key: laserscanutils-xenial
       paths:
-      - laser_scan_utils/
+      - ci_deps/laser_scan_utils/
     - key: csm-xenial
       paths:
-      - csm/
+      - ci_deps/csm/
     - key: falko-xenial
       paths:
-      - falkolib/
+      - ci_deps/falkolib/
   except:
     - master
   before_script:
     - *preliminaries_definition
-    - *build_install_wolf_definition
-    - *build_install_falko_definition
-    - *build_install_csm_definition
-    - *build_install_laserscanutils_definition
+    - *install_wolf_definition
+    - *install_falko_definition
+    - *install_csm_definition
+    - *install_laserscanutils_definition
     - ldconfig # update links (shared libraries)
 
   script:
     - *build_and_test_definition
 
 ############ UBUNTU 18.04 TESTS ############
-wolf_build_and_test_none:bionic:
+build_and_test_none:bionic:
   stage: none
   image: labrobotica/wolf_deps:18.04
   cache:
     - key: wolf-bionic
       paths:
-      - wolf/
+      - ci_deps/wolf/
     - key: laserscanutils-bionic
       paths:
-      - laser_scan_utils/
+      - ci_deps/laser_scan_utils/
   except:
     - master
   before_script:
     - *preliminaries_definition
-    - *build_install_wolf_definition
-    - *build_install_laserscanutils_definition
+    - *install_wolf_definition
+    - *install_laserscanutils_definition
     - ldconfig # update links (shared libraries)
   script:
     - *build_and_test_definition
 
-wolf_build_and_test_csm:bionic:
+build_and_test_csm:bionic:
   stage: csm
   image: labrobotica/wolf_deps:18.04
   cache:
     - key: wolf-bionic
       paths:
-      - wolf/
+      - ci_deps/wolf/
     - key: laserscanutils-bionic
       paths:
-      - laser_scan_utils/
+      - ci_deps/laser_scan_utils/
     - key: csm-bionic
       paths:
-      - csm/
+      - ci_deps/csm/
   except:
     - master
   before_script:
     - *preliminaries_definition
-    - *build_install_wolf_definition
-    - *build_install_csm_definition
-    - *build_install_laserscanutils_definition
+    - *install_wolf_definition
+    - *install_csm_definition
+    - *install_laserscanutils_definition
     - ldconfig # update links (shared libraries)
 
   script:
     - *build_and_test_definition
 
-wolf_build_and_test_falko:bionic:
+build_and_test_falko:bionic:
   stage: falko
   image: labrobotica/wolf_deps:18.04
   cache:
     - key: wolf-bionic
       paths:
-      - wolf/
+      - ci_deps/wolf/
     - key: laserscanutils-bionic
       paths:
-      - laser_scan_utils/
+      - ci_deps/laser_scan_utils/
     - key: falko-bionic
       paths:
-      - falkolib/
+      - ci_deps/falkolib/
   except:
     - master
   before_script:
     - *preliminaries_definition
-    - *build_install_wolf_definition
-    - *build_install_falko_definition
-    - *build_install_laserscanutils_definition
+    - *install_wolf_definition
+    - *install_falko_definition
+    - *install_laserscanutils_definition
     - ldconfig # update links (shared libraries)
 
   script:
     - *build_and_test_definition
     
-wolf_build_and_test_csm_falko:bionic:
+build_and_test_csm_falko:bionic:
   stage: csm_falko
   image: labrobotica/wolf_deps:18.04
   cache:
     - key: wolf-bionic
       paths:
-      - wolf/
+      - ci_deps/wolf/
     - key: laserscanutils-bionic
       paths:
-      - laser_scan_utils/
+      - ci_deps/laser_scan_utils/
     - key: csm-bionic
       paths:
-      - csm/
+      - ci_deps/csm/
     - key: falko-bionic
       paths:
-      - falkolib/
+      - ci_deps/falkolib/
   except:
     - master
   before_script:
     - *preliminaries_definition
-    - *build_install_wolf_definition
-    - *build_install_falko_definition
-    - *build_install_csm_definition
-    - *build_install_laserscanutils_definition
+    - *install_wolf_definition
+    - *install_falko_definition
+    - *install_csm_definition
+    - *install_laserscanutils_definition
     - ldconfig # update links (shared libraries)
 
   script:
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 200e690bf139a7ec78ddbc02043311c2e5d78225..6e4c9907e106c876c0f2ef5c381c26c5c48f55b9 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -101,7 +101,7 @@ FIND_PACKAGE(wolfcore REQUIRED)
 
 FIND_PACKAGE(laser_scan_utils REQUIRED)
 
-FIND_PACKAGE(csm QUIET)
+#FIND_PACKAGE(csm QUIET)
 
 FIND_PACKAGE(falkolib QUIET)
 
diff --git a/LICENSE b/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..281d399f13dfd23087acc56303dd38d68162587c
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,619 @@
+                    GNU GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+                            Preamble
+
+  The GNU General Public License is a free, copyleft license for
+software and other kinds of works.
+
+  The licenses for most software and other practical works are designed
+to take away your freedom to share and change the works.  By contrast,
+the GNU General Public License is intended to guarantee your freedom to
+share and change all versions of a program--to make sure it remains free
+software for all its users.  We, the Free Software Foundation, use the
+GNU General Public License for most of our software; it applies also to
+any other work released this way by its authors.  You can apply it to
+your programs, too.
+
+  When we speak of free software, we are referring to freedom, not
+price.  Our General Public Licenses are designed to make sure that you
+have the freedom to distribute copies of free software (and charge for
+them if you wish), that you receive source code or can get it if you
+want it, that you can change the software or use pieces of it in new
+free programs, and that you know you can do these things.
+
+  To protect your rights, we need to prevent others from denying you
+these rights or asking you to surrender the rights.  Therefore, you have
+certain responsibilities if you distribute copies of the software, or if
+you modify it: responsibilities to respect the freedom of others.
+
+  For example, if you distribute copies of such a program, whether
+gratis or for a fee, you must pass on to the recipients the same
+freedoms that you received.  You must make sure that they, too, receive
+or can get the source code.  And you must show them these terms so they
+know their rights.
+
+  Developers that use the GNU GPL protect your rights with two steps:
+(1) assert copyright on the software, and (2) offer you this License
+giving you legal permission to copy, distribute and/or modify it.
+
+  For the developers' and authors' protection, the GPL clearly explains
+that there is no warranty for this free software.  For both users' and
+authors' sake, the GPL requires that modified versions be marked as
+changed, so that their problems will not be attributed erroneously to
+authors of previous versions.
+
+  Some devices are designed to deny users access to install or run
+modified versions of the software inside them, although the manufacturer
+can do so.  This is fundamentally incompatible with the aim of
+protecting users' freedom to change the software.  The systematic
+pattern of such abuse occurs in the area of products for individuals to
+use, which is precisely where it is most unacceptable.  Therefore, we
+have designed this version of the GPL to prohibit the practice for those
+products.  If such problems arise substantially in other domains, we
+stand ready to extend this provision to those domains in future versions
+of the GPL, as needed to protect the freedom of users.
+
+  Finally, every program is threatened constantly by software patents.
+States should not allow patents to restrict development and use of
+software on general-purpose computers, but in those that do, we wish to
+avoid the special danger that patents applied to a free program could
+make it effectively proprietary.  To prevent this, the GPL assures that
+patents cannot be used to render the program non-free.
+
+  The precise terms and conditions for copying, distribution and
+modification follow.
+
+                       TERMS AND CONDITIONS
+
+  0. Definitions.
+
+  "This License" refers to version 3 of the GNU General Public License.
+
+  "Copyright" also means copyright-like laws that apply to other kinds of
+works, such as semiconductor masks.
+
+  "The Program" refers to any copyrightable work licensed under this
+License.  Each licensee is addressed as "you".  "Licensees" and
+"recipients" may be individuals or organizations.
+
+  To "modify" a work means to copy from or adapt all or part of the work
+in a fashion requiring copyright permission, other than the making of an
+exact copy.  The resulting work is called a "modified version" of the
+earlier work or a work "based on" the earlier work.
+
+  A "covered work" means either the unmodified Program or a work based
+on the Program.
+
+  To "propagate" a work means to do anything with it that, without
+permission, would make you directly or secondarily liable for
+infringement under applicable copyright law, except executing it on a
+computer or modifying a private copy.  Propagation includes copying,
+distribution (with or without modification), making available to the
+public, and in some countries other activities as well.
+
+  To "convey" a work means any kind of propagation that enables other
+parties to make or receive copies.  Mere interaction with a user through
+a computer network, with no transfer of a copy, is not conveying.
+
+  An interactive user interface displays "Appropriate Legal Notices"
+to the extent that it includes a convenient and prominently visible
+feature that (1) displays an appropriate copyright notice, and (2)
+tells the user that there is no warranty for the work (except to the
+extent that warranties are provided), that licensees may convey the
+work under this License, and how to view a copy of this License.  If
+the interface presents a list of user commands or options, such as a
+menu, a prominent item in the list meets this criterion.
+
+  1. Source Code.
+
+  The "source code" for a work means the preferred form of the work
+for making modifications to it.  "Object code" means any non-source
+form of a work.
+
+  A "Standard Interface" means an interface that either is an official
+standard defined by a recognized standards body, or, in the case of
+interfaces specified for a particular programming language, one that
+is widely used among developers working in that language.
+
+  The "System Libraries" of an executable work include anything, other
+than the work as a whole, that (a) is included in the normal form of
+packaging a Major Component, but which is not part of that Major
+Component, and (b) serves only to enable use of the work with that
+Major Component, or to implement a Standard Interface for which an
+implementation is available to the public in source code form.  A
+"Major Component", in this context, means a major essential component
+(kernel, window system, and so on) of the specific operating system
+(if any) on which the executable work runs, or a compiler used to
+produce the work, or an object code interpreter used to run it.
+
+  The "Corresponding Source" for a work in object code form means all
+the source code needed to generate, install, and (for an executable
+work) run the object code and to modify the work, including scripts to
+control those activities.  However, it does not include the work's
+System Libraries, or general-purpose tools or generally available free
+programs which are used unmodified in performing those activities but
+which are not part of the work.  For example, Corresponding Source
+includes interface definition files associated with source files for
+the work, and the source code for shared libraries and dynamically
+linked subprograms that the work is specifically designed to require,
+such as by intimate data communication or control flow between those
+subprograms and other parts of the work.
+
+  The Corresponding Source need not include anything that users
+can regenerate automatically from other parts of the Corresponding
+Source.
+
+  The Corresponding Source for a work in source code form is that
+same work.
+
+  2. Basic Permissions.
+
+  All rights granted under this License are granted for the term of
+copyright on the Program, and are irrevocable provided the stated
+conditions are met.  This License explicitly affirms your unlimited
+permission to run the unmodified Program.  The output from running a
+covered work is covered by this License only if the output, given its
+content, constitutes a covered work.  This License acknowledges your
+rights of fair use or other equivalent, as provided by copyright law.
+
+  You may make, run and propagate covered works that you do not
+convey, without conditions so long as your license otherwise remains
+in force.  You may convey covered works to others for the sole purpose
+of having them make modifications exclusively for you, or provide you
+with facilities for running those works, provided that you comply with
+the terms of this License in conveying all material for which you do
+not control copyright.  Those thus making or running the covered works
+for you must do so exclusively on your behalf, under your direction
+and control, on terms that prohibit them from making any copies of
+your copyrighted material outside their relationship with you.
+
+  Conveying under any other circumstances is permitted solely under
+the conditions stated below.  Sublicensing is not allowed; section 10
+makes it unnecessary.
+
+  3. Protecting Users' Legal Rights From Anti-Circumvention Law.
+
+  No covered work shall be deemed part of an effective technological
+measure under any applicable law fulfilling obligations under article
+11 of the WIPO copyright treaty adopted on 20 December 1996, or
+similar laws prohibiting or restricting circumvention of such
+measures.
+
+  When you convey a covered work, you waive any legal power to forbid
+circumvention of technological measures to the extent such circumvention
+is effected by exercising rights under this License with respect to
+the covered work, and you disclaim any intention to limit operation or
+modification of the work as a means of enforcing, against the work's
+users, your or third parties' legal rights to forbid circumvention of
+technological measures.
+
+  4. Conveying Verbatim Copies.
+
+  You may convey verbatim copies of the Program's source code as you
+receive it, in any medium, provided that you conspicuously and
+appropriately publish on each copy an appropriate copyright notice;
+keep intact all notices stating that this License and any
+non-permissive terms added in accord with section 7 apply to the code;
+keep intact all notices of the absence of any warranty; and give all
+recipients a copy of this License along with the Program.
+
+  You may charge any price or no price for each copy that you convey,
+and you may offer support or warranty protection for a fee.
+
+  5. Conveying Modified Source Versions.
+
+  You may convey a work based on the Program, or the modifications to
+produce it from the Program, in the form of source code under the
+terms of section 4, provided that you also meet all of these conditions:
+
+    a) The work must carry prominent notices stating that you modified
+    it, and giving a relevant date.
+
+    b) The work must carry prominent notices stating that it is
+    released under this License and any conditions added under section
+    7.  This requirement modifies the requirement in section 4 to
+    "keep intact all notices".
+
+    c) You must license the entire work, as a whole, under this
+    License to anyone who comes into possession of a copy.  This
+    License will therefore apply, along with any applicable section 7
+    additional terms, to the whole of the work, and all its parts,
+    regardless of how they are packaged.  This License gives no
+    permission to license the work in any other way, but it does not
+    invalidate such permission if you have separately received it.
+
+    d) If the work has interactive user interfaces, each must display
+    Appropriate Legal Notices; however, if the Program has interactive
+    interfaces that do not display Appropriate Legal Notices, your
+    work need not make them do so.
+
+  A compilation of a covered work with other separate and independent
+works, which are not by their nature extensions of the covered work,
+and which are not combined with it such as to form a larger program,
+in or on a volume of a storage or distribution medium, is called an
+"aggregate" if the compilation and its resulting copyright are not
+used to limit the access or legal rights of the compilation's users
+beyond what the individual works permit.  Inclusion of a covered work
+in an aggregate does not cause this License to apply to the other
+parts of the aggregate.
+
+  6. Conveying Non-Source Forms.
+
+  You may convey a covered work in object code form under the terms
+of sections 4 and 5, provided that you also convey the
+machine-readable Corresponding Source under the terms of this License,
+in one of these ways:
+
+    a) Convey the object code in, or embodied in, a physical product
+    (including a physical distribution medium), accompanied by the
+    Corresponding Source fixed on a durable physical medium
+    customarily used for software interchange.
+
+    b) Convey the object code in, or embodied in, a physical product
+    (including a physical distribution medium), accompanied by a
+    written offer, valid for at least three years and valid for as
+    long as you offer spare parts or customer support for that product
+    model, to give anyone who possesses the object code either (1) a
+    copy of the Corresponding Source for all the software in the
+    product that is covered by this License, on a durable physical
+    medium customarily used for software interchange, for a price no
+    more than your reasonable cost of physically performing this
+    conveying of source, or (2) access to copy the
+    Corresponding Source from a network server at no charge.
+
+    c) Convey individual copies of the object code with a copy of the
+    written offer to provide the Corresponding Source.  This
+    alternative is allowed only occasionally and noncommercially, and
+    only if you received the object code with such an offer, in accord
+    with subsection 6b.
+
+    d) Convey the object code by offering access from a designated
+    place (gratis or for a charge), and offer equivalent access to the
+    Corresponding Source in the same way through the same place at no
+    further charge.  You need not require recipients to copy the
+    Corresponding Source along with the object code.  If the place to
+    copy the object code is a network server, the Corresponding Source
+    may be on a different server (operated by you or a third party)
+    that supports equivalent copying facilities, provided you maintain
+    clear directions next to the object code saying where to find the
+    Corresponding Source.  Regardless of what server hosts the
+    Corresponding Source, you remain obligated to ensure that it is
+    available for as long as needed to satisfy these requirements.
+
+    e) Convey the object code using peer-to-peer transmission, provided
+    you inform other peers where the object code and Corresponding
+    Source of the work are being offered to the general public at no
+    charge under subsection 6d.
+
+  A separable portion of the object code, whose source code is excluded
+from the Corresponding Source as a System Library, need not be
+included in conveying the object code work.
+
+  A "User Product" is either (1) a "consumer product", which means any
+tangible personal property which is normally used for personal, family,
+or household purposes, or (2) anything designed or sold for incorporation
+into a dwelling.  In determining whether a product is a consumer product,
+doubtful cases shall be resolved in favor of coverage.  For a particular
+product received by a particular user, "normally used" refers to a
+typical or common use of that class of product, regardless of the status
+of the particular user or of the way in which the particular user
+actually uses, or expects or is expected to use, the product.  A product
+is a consumer product regardless of whether the product has substantial
+commercial, industrial or non-consumer uses, unless such uses represent
+the only significant mode of use of the product.
+
+  "Installation Information" for a User Product means any methods,
+procedures, authorization keys, or other information required to install
+and execute modified versions of a covered work in that User Product from
+a modified version of its Corresponding Source.  The information must
+suffice to ensure that the continued functioning of the modified object
+code is in no case prevented or interfered with solely because
+modification has been made.
+
+  If you convey an object code work under this section in, or with, or
+specifically for use in, a User Product, and the conveying occurs as
+part of a transaction in which the right of possession and use of the
+User Product is transferred to the recipient in perpetuity or for a
+fixed term (regardless of how the transaction is characterized), the
+Corresponding Source conveyed under this section must be accompanied
+by the Installation Information.  But this requirement does not apply
+if neither you nor any third party retains the ability to install
+modified object code on the User Product (for example, the work has
+been installed in ROM).
+
+  The requirement to provide Installation Information does not include a
+requirement to continue to provide support service, warranty, or updates
+for a work that has been modified or installed by the recipient, or for
+the User Product in which it has been modified or installed.  Access to a
+network may be denied when the modification itself materially and
+adversely affects the operation of the network or violates the rules and
+protocols for communication across the network.
+
+  Corresponding Source conveyed, and Installation Information provided,
+in accord with this section must be in a format that is publicly
+documented (and with an implementation available to the public in
+source code form), and must require no special password or key for
+unpacking, reading or copying.
+
+  7. Additional Terms.
+
+  "Additional permissions" are terms that supplement the terms of this
+License by making exceptions from one or more of its conditions.
+Additional permissions that are applicable to the entire Program shall
+be treated as though they were included in this License, to the extent
+that they are valid under applicable law.  If additional permissions
+apply only to part of the Program, that part may be used separately
+under those permissions, but the entire Program remains governed by
+this License without regard to the additional permissions.
+
+  When you convey a copy of a covered work, you may at your option
+remove any additional permissions from that copy, or from any part of
+it.  (Additional permissions may be written to require their own
+removal in certain cases when you modify the work.)  You may place
+additional permissions on material, added by you to a covered work,
+for which you have or can give appropriate copyright permission.
+
+  Notwithstanding any other provision of this License, for material you
+add to a covered work, you may (if authorized by the copyright holders of
+that material) supplement the terms of this License with terms:
+
+    a) Disclaiming warranty or limiting liability differently from the
+    terms of sections 15 and 16 of this License; or
+
+    b) Requiring preservation of specified reasonable legal notices or
+    author attributions in that material or in the Appropriate Legal
+    Notices displayed by works containing it; or
+
+    c) Prohibiting misrepresentation of the origin of that material, or
+    requiring that modified versions of such material be marked in
+    reasonable ways as different from the original version; or
+
+    d) Limiting the use for publicity purposes of names of licensors or
+    authors of the material; or
+
+    e) Declining to grant rights under trademark law for use of some
+    trade names, trademarks, or service marks; or
+
+    f) Requiring indemnification of licensors and authors of that
+    material by anyone who conveys the material (or modified versions of
+    it) with contractual assumptions of liability to the recipient, for
+    any liability that these contractual assumptions directly impose on
+    those licensors and authors.
+
+  All other non-permissive additional terms are considered "further
+restrictions" within the meaning of section 10.  If the Program as you
+received it, or any part of it, contains a notice stating that it is
+governed by this License along with a term that is a further
+restriction, you may remove that term.  If a license document contains
+a further restriction but permits relicensing or conveying under this
+License, you may add to a covered work material governed by the terms
+of that license document, provided that the further restriction does
+not survive such relicensing or conveying.
+
+  If you add terms to a covered work in accord with this section, you
+must place, in the relevant source files, a statement of the
+additional terms that apply to those files, or a notice indicating
+where to find the applicable terms.
+
+  Additional terms, permissive or non-permissive, may be stated in the
+form of a separately written license, or stated as exceptions;
+the above requirements apply either way.
+
+  8. Termination.
+
+  You may not propagate or modify a covered work except as expressly
+provided under this License.  Any attempt otherwise to propagate or
+modify it is void, and will automatically terminate your rights under
+this License (including any patent licenses granted under the third
+paragraph of section 11).
+
+  However, if you cease all violation of this License, then your
+license from a particular copyright holder is reinstated (a)
+provisionally, unless and until the copyright holder explicitly and
+finally terminates your license, and (b) permanently, if the copyright
+holder fails to notify you of the violation by some reasonable means
+prior to 60 days after the cessation.
+
+  Moreover, your license from a particular copyright holder is
+reinstated permanently if the copyright holder notifies you of the
+violation by some reasonable means, this is the first time you have
+received notice of violation of this License (for any work) from that
+copyright holder, and you cure the violation prior to 30 days after
+your receipt of the notice.
+
+  Termination of your rights under this section does not terminate the
+licenses of parties who have received copies or rights from you under
+this License.  If your rights have been terminated and not permanently
+reinstated, you do not qualify to receive new licenses for the same
+material under section 10.
+
+  9. Acceptance Not Required for Having Copies.
+
+  You are not required to accept this License in order to receive or
+run a copy of the Program.  Ancillary propagation of a covered work
+occurring solely as a consequence of using peer-to-peer transmission
+to receive a copy likewise does not require acceptance.  However,
+nothing other than this License grants you permission to propagate or
+modify any covered work.  These actions infringe copyright if you do
+not accept this License.  Therefore, by modifying or propagating a
+covered work, you indicate your acceptance of this License to do so.
+
+  10. Automatic Licensing of Downstream Recipients.
+
+  Each time you convey a covered work, the recipient automatically
+receives a license from the original licensors, to run, modify and
+propagate that work, subject to this License.  You are not responsible
+for enforcing compliance by third parties with this License.
+
+  An "entity transaction" is a transaction transferring control of an
+organization, or substantially all assets of one, or subdividing an
+organization, or merging organizations.  If propagation of a covered
+work results from an entity transaction, each party to that
+transaction who receives a copy of the work also receives whatever
+licenses to the work the party's predecessor in interest had or could
+give under the previous paragraph, plus a right to possession of the
+Corresponding Source of the work from the predecessor in interest, if
+the predecessor has it or can get it with reasonable efforts.
+
+  You may not impose any further restrictions on the exercise of the
+rights granted or affirmed under this License.  For example, you may
+not impose a license fee, royalty, or other charge for exercise of
+rights granted under this License, and you may not initiate litigation
+(including a cross-claim or counterclaim in a lawsuit) alleging that
+any patent claim is infringed by making, using, selling, offering for
+sale, or importing the Program or any portion of it.
+
+  11. Patents.
+
+  A "contributor" is a copyright holder who authorizes use under this
+License of the Program or a work on which the Program is based.  The
+work thus licensed is called the contributor's "contributor version".
+
+  A contributor's "essential patent claims" are all patent claims
+owned or controlled by the contributor, whether already acquired or
+hereafter acquired, that would be infringed by some manner, permitted
+by this License, of making, using, or selling its contributor version,
+but do not include claims that would be infringed only as a
+consequence of further modification of the contributor version.  For
+purposes of this definition, "control" includes the right to grant
+patent sublicenses in a manner consistent with the requirements of
+this License.
+
+  Each contributor grants you a non-exclusive, worldwide, royalty-free
+patent license under the contributor's essential patent claims, to
+make, use, sell, offer for sale, import and otherwise run, modify and
+propagate the contents of its contributor version.
+
+  In the following three paragraphs, a "patent license" is any express
+agreement or commitment, however denominated, not to enforce a patent
+(such as an express permission to practice a patent or covenant not to
+sue for patent infringement).  To "grant" such a patent license to a
+party means to make such an agreement or commitment not to enforce a
+patent against the party.
+
+  If you convey a covered work, knowingly relying on a patent license,
+and the Corresponding Source of the work is not available for anyone
+to copy, free of charge and under the terms of this License, through a
+publicly available network server or other readily accessible means,
+then you must either (1) cause the Corresponding Source to be so
+available, or (2) arrange to deprive yourself of the benefit of the
+patent license for this particular work, or (3) arrange, in a manner
+consistent with the requirements of this License, to extend the patent
+license to downstream recipients.  "Knowingly relying" means you have
+actual knowledge that, but for the patent license, your conveying the
+covered work in a country, or your recipient's use of the covered work
+in a country, would infringe one or more identifiable patents in that
+country that you have reason to believe are valid.
+
+  If, pursuant to or in connection with a single transaction or
+arrangement, you convey, or propagate by procuring conveyance of, a
+covered work, and grant a patent license to some of the parties
+receiving the covered work authorizing them to use, propagate, modify
+or convey a specific copy of the covered work, then the patent license
+you grant is automatically extended to all recipients of the covered
+work and works based on it.
+
+  A patent license is "discriminatory" if it does not include within
+the scope of its coverage, prohibits the exercise of, or is
+conditioned on the non-exercise of one or more of the rights that are
+specifically granted under this License.  You may not convey a covered
+work if you are a party to an arrangement with a third party that is
+in the business of distributing software, under which you make payment
+to the third party based on the extent of your activity of conveying
+the work, and under which the third party grants, to any of the
+parties who would receive the covered work from you, a discriminatory
+patent license (a) in connection with copies of the covered work
+conveyed by you (or copies made from those copies), or (b) primarily
+for and in connection with specific products or compilations that
+contain the covered work, unless you entered into that arrangement,
+or that patent license was granted, prior to 28 March 2007.
+
+  Nothing in this License shall be construed as excluding or limiting
+any implied license or other defenses to infringement that may
+otherwise be available to you under applicable patent law.
+
+  12. No Surrender of Others' Freedom.
+
+  If conditions are imposed on you (whether by court order, agreement or
+otherwise) that contradict the conditions of this License, they do not
+excuse you from the conditions of this License.  If you cannot convey a
+covered work so as to satisfy simultaneously your obligations under this
+License and any other pertinent obligations, then as a consequence you may
+not convey it at all.  For example, if you agree to terms that obligate you
+to collect a royalty for further conveying from those to whom you convey
+the Program, the only way you could satisfy both those terms and this
+License would be to refrain entirely from conveying the Program.
+
+  13. Use with the GNU Affero General Public License.
+
+  Notwithstanding any other provision of this License, you have
+permission to link or combine any covered work with a work licensed
+under version 3 of the GNU Affero General Public License into a single
+combined work, and to convey the resulting work.  The terms of this
+License will continue to apply to the part which is the covered work,
+but the special requirements of the GNU Affero General Public License,
+section 13, concerning interaction through a network will apply to the
+combination as such.
+
+  14. Revised Versions of this License.
+
+  The Free Software Foundation may publish revised and/or new versions of
+the GNU General Public License from time to time.  Such new versions will
+be similar in spirit to the present version, but may differ in detail to
+address new problems or concerns.
+
+  Each version is given a distinguishing version number.  If the
+Program specifies that a certain numbered version of the GNU General
+Public License "or any later version" applies to it, you have the
+option of following the terms and conditions either of that numbered
+version or of any later version published by the Free Software
+Foundation.  If the Program does not specify a version number of the
+GNU General Public License, you may choose any version ever published
+by the Free Software Foundation.
+
+  If the Program specifies that a proxy can decide which future
+versions of the GNU General Public License can be used, that proxy's
+public statement of acceptance of a version permanently authorizes you
+to choose that version for the Program.
+
+  Later license versions may give you additional or different
+permissions.  However, no additional obligations are imposed on any
+author or copyright holder as a result of your choosing to follow a
+later version.
+
+  15. Disclaimer of Warranty.
+
+  THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
+APPLICABLE LAW.  EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
+HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
+OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
+THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE.  THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
+IS WITH YOU.  SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
+ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
+
+  16. Limitation of Liability.
+
+  IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
+THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+  17. Interpretation of Sections 15 and 16.
+
+  If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
diff --git a/demos/demo_2_lasers_offline.cpp b/demos/demo_2_lasers_offline.cpp
index 597dfd71f4813f396cdf992a8354f896c575639f..5fc9fdf55c04cbd72c9685a0af594328ecf078b2 100644
--- a/demos/demo_2_lasers_offline.cpp
+++ b/demos/demo_2_lasers_offline.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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--------
 //std includes
 #include "core/sensor/sensor_GPS_fix.h"
 #include <cstdlib>
diff --git a/demos/demo_capture_laser_2d.cpp b/demos/demo_capture_laser_2d.cpp
index 15367a4c13298de7549d4b55613e0d59da124c4a..93fe6138614cba889e39d648f32aa874f28a6bf1 100644
--- a/demos/demo_capture_laser_2d.cpp
+++ b/demos/demo_capture_laser_2d.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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--------
 
 //std
 #include <random>
diff --git a/demos/demo_ceres_2_lasers.cpp b/demos/demo_ceres_2_lasers.cpp
index bc3c6fb5266005e832333fc665eedcfee7b8f7ad..32d151d112b5c981ac646949cdd09ab9328334d1 100644
--- a/demos/demo_ceres_2_lasers.cpp
+++ b/demos/demo_ceres_2_lasers.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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--------
 //std includes
 #include "core/sensor/sensor_GPS_fix.h"
 #include <cstdlib>
diff --git a/demos/demo_ceres_2_lasers_polylines.cpp b/demos/demo_ceres_2_lasers_polylines.cpp
index a8a93d9fa422817df9c57a76a314ba38d4f799d1..dc383b67fdc7f2332d049f8b5569c324544ca8d5 100644
--- a/demos/demo_ceres_2_lasers_polylines.cpp
+++ b/demos/demo_ceres_2_lasers_polylines.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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--------
 //std includes
 #include "core/sensor/sensor_GPS_fix.h"
 #include <cstdlib>
diff --git a/include/laser/capture/capture_laser_2d.h b/include/laser/capture/capture_laser_2d.h
index 46a5f65ba0d6640953c0d8f19ee15c3fcc3bb76e..bde23f0976e751ad84699729a6157f72d60064cf 100644
--- a/include/laser/capture/capture_laser_2d.h
+++ b/include/laser/capture/capture_laser_2d.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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 CAPTURE_LASER_2d_H_
 #define CAPTURE_LASER_2d_H_
diff --git a/include/laser/factor/factor_container.h b/include/laser/factor/factor_container.h
index 0c3f5e29accee12a85f3945de1f36523e23a0881..87b19530df3b86b06eab569b2aad3e68f09f2684 100644
--- a/include/laser/factor/factor_container.h
+++ b/include/laser/factor/factor_container.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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_CONTAINER_H_
 #define FACTOR_CONTAINER_H_
 
diff --git a/include/laser/factor/factor_point_2d.h b/include/laser/factor/factor_point_2d.h
index 0e4188d5e69d29bbf619cc4b14fb6d8fff25bb13..e0662388bed89b5ae42af1e38ed272a6cf0848a4 100644
--- a/include/laser/factor/factor_point_2d.h
+++ b/include/laser/factor/factor_point_2d.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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_POINT_2d_THETA_H_
 #define FACTOR_POINT_2d_THETA_H_
 
diff --git a/include/laser/factor/factor_point_to_line_2d.h b/include/laser/factor/factor_point_to_line_2d.h
index 80db7c795b47e5733bbbe620376c8d7716311516..13bb2ad2d156958d4b378ca899d2d45bfef7ca5c 100644
--- a/include/laser/factor/factor_point_to_line_2d.h
+++ b/include/laser/factor/factor_point_to_line_2d.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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_POINT_TO_LINE_2d_H_
 #define FACTOR_POINT_TO_LINE_2d_H_
 
diff --git a/include/laser/feature/feature_icp_align.h b/include/laser/feature/feature_icp_align.h
index 257ac732f8a9bf6aca345d7b1638adbc2013008a..f20fe5616fcc0f8fcea5c1dab646e73c0050e4e1 100644
--- a/include/laser/feature/feature_icp_align.h
+++ b/include/laser/feature/feature_icp_align.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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 FEATURE_ICP_ALIGN_H_
 #define FEATURE_ICP_ALIGN_H_
 
diff --git a/include/laser/feature/feature_match_polyline_2d.h b/include/laser/feature/feature_match_polyline_2d.h
index e106a89df78252935d88887afe60ab575238c067..16ee18bf33d1c6097903e9dc956ba18b33697d22 100644
--- a/include/laser/feature/feature_match_polyline_2d.h
+++ b/include/laser/feature/feature_match_polyline_2d.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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 FEATURE_MATCH_POLYLINE_2d_H_
 #define FEATURE_MATCH_POLYLINE_2d_H_
 
diff --git a/include/laser/feature/feature_polyline_2d.h b/include/laser/feature/feature_polyline_2d.h
index b235419489f22ee3d9f5dbd0beffb3daf9a96312..aee5a81d4a67ec17b5a0ffeb1f246523f0f269e8 100644
--- a/include/laser/feature/feature_polyline_2d.h
+++ b/include/laser/feature/feature_polyline_2d.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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 feature_polyline_2d.h
  *
diff --git a/include/laser/landmark/landmark_match_polyline_2d.h b/include/laser/landmark/landmark_match_polyline_2d.h
index 28f723e1769cdb427fe26ca6a09249123ccf53dc..882ff4b15e5318936d6801016c3bd487d8c01e7c 100644
--- a/include/laser/landmark/landmark_match_polyline_2d.h
+++ b/include/laser/landmark/landmark_match_polyline_2d.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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_MATCH_POLYLINE_2d_H_
 #define LANDMARK_MATCH_POLYLINE_2d_H_
 
diff --git a/include/laser/landmark/landmark_polyline_2d.h b/include/laser/landmark/landmark_polyline_2d.h
index 55085ab760a92c20deda447d27312cd6e92e0b9d..60037402e37dc0c958cdbb959e8ca8279b8f3af2 100644
--- a/include/laser/landmark/landmark_polyline_2d.h
+++ b/include/laser/landmark/landmark_polyline_2d.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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 landmark_poliyline_2d.h
  *
diff --git a/include/laser/math/laser_tools.h b/include/laser/math/laser_tools.h
index a25fba7a119d97c8064492cbdec29162fc3b3440..159eef7c51fc26a25c9c8d507b7310958acad4f8 100644
--- a/include/laser/math/laser_tools.h
+++ b/include/laser/math/laser_tools.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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--------
 /*
  * laser_tools.h
  *
diff --git a/include/laser/processor/polyline_2d_utils.h b/include/laser/processor/polyline_2d_utils.h
index af82bc7fe20e11b1a364f218b41cba096e76e7f8..31e44416c3bacbdee41425bc2c5f5b13ec497d7e 100644
--- a/include/laser/processor/polyline_2d_utils.h
+++ b/include/laser/processor/polyline_2d_utils.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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--------
 /*
  * polyline_2d_utils.h
  *
diff --git a/include/laser/processor/processor_loop_closure_icp.h b/include/laser/processor/processor_loop_closure_icp.h
index 263f018b4526ea59526a9d93c3a62e9462a4c201..226c19e950f2993b04f77795ab2f7ee637f62129 100644
--- a/include/laser/processor/processor_loop_closure_icp.h
+++ b/include/laser/processor/processor_loop_closure_icp.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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 SRC_PROCESSOR_LOOP_CLOSURE_ICP_H_
 #define SRC_PROCESSOR_LOOP_CLOSURE_ICP_H_
 
diff --git a/include/laser/processor/processor_odom_icp.h b/include/laser/processor/processor_odom_icp.h
index aba77016f47a17eb9cfda67e7f78dd2f30fa0398..2e82eafc83f430d151808d64947725cc74069f83 100644
--- a/include/laser/processor/processor_odom_icp.h
+++ b/include/laser/processor/processor_odom_icp.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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 SRC_PROCESSOR_ODOM_ICP_H_
 #define SRC_PROCESSOR_ODOM_ICP_H_
 
diff --git a/include/laser/processor/processor_tracker_feature_polyline_2d.h b/include/laser/processor/processor_tracker_feature_polyline_2d.h
index 133b2cc14532d8c40f1f1213b2c082a1e71febca..df2f5c22941d61232d35352d727c025612b7e8a8 100644
--- a/include/laser/processor/processor_tracker_feature_polyline_2d.h
+++ b/include/laser/processor/processor_tracker_feature_polyline_2d.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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--------
 /*
  * processor_tracker_feature_polyline_2d.h
  *
diff --git a/include/laser/sensor/sensor_laser_2d.h b/include/laser/sensor/sensor_laser_2d.h
index 436d17ccd4a31a715ad58003ce7896c5650bd8e0..598d0ac6c231c0b486314d31f93bdae1f08be1f3 100644
--- a/include/laser/sensor/sensor_laser_2d.h
+++ b/include/laser/sensor/sensor_laser_2d.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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--------
 // sensor_laser_2d.h
 
 #ifndef SENSOR_LASER_2d_H_
diff --git a/include/laser/state_block/local_parametrization_polyline_extreme.h b/include/laser/state_block/local_parametrization_polyline_extreme.h
index 2a2c2340729fd776c22a6ab7d1f6708896860f8d..e44dca64d9cf3e0eb8f3c411ef5301e493efba4c 100644
--- a/include/laser/state_block/local_parametrization_polyline_extreme.h
+++ b/include/laser/state_block/local_parametrization_polyline_extreme.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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 local_parametrization_polyline_extreme.h
  *
diff --git a/license_header_2021.txt b/license_header_2021.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c75a6f243b37109b77d60e16b7caebfc19215aea
--- /dev/null
+++ b/license_header_2021.txt
@@ -0,0 +1,17 @@
+// Copyright (C) 2020,2021 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/>.
diff --git a/src/capture/capture_laser_2d.cpp b/src/capture/capture_laser_2d.cpp
index 96194e1321eb156de25b9cf83384159ccce99564..251c97eb12adb1e84d7098239220b832da942e50 100644
--- a/src/capture/capture_laser_2d.cpp
+++ b/src/capture/capture_laser_2d.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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 "laser/capture/capture_laser_2d.h"
 
 namespace wolf {
diff --git a/src/feature/feature_icp_align.cpp b/src/feature/feature_icp_align.cpp
index 0f10fdab0876e60e5245ab8e7c57badc2f753b10..0f0672a0fe17bc8673ae4b69a5a824d0ffc5753d 100644
--- a/src/feature/feature_icp_align.cpp
+++ b/src/feature/feature_icp_align.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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 "laser/feature/feature_icp_align.h"
 
 namespace wolf {
diff --git a/src/feature/feature_match_polyline_2d.cpp b/src/feature/feature_match_polyline_2d.cpp
index d014fab13df86e4f00c3ce684b19013e5a48483b..ef5cb4cabd777d79f1ac384f7a1afb6b04a96735 100644
--- a/src/feature/feature_match_polyline_2d.cpp
+++ b/src/feature/feature_match_polyline_2d.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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 "laser/feature/feature_match_polyline_2d.h"
 #include "laser/feature/feature_polyline_2d.h"
 #include "laser/processor/polyline_2d_utils.h"
diff --git a/src/feature/feature_polyline_2d.cpp b/src/feature/feature_polyline_2d.cpp
index 715cc4623d5047c943119ed9f145299d00547d19..406f7098d1600a078d8008030ad0c17e42baf4a4 100644
--- a/src/feature/feature_polyline_2d.cpp
+++ b/src/feature/feature_polyline_2d.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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 feature_polyline.cpp
  *
diff --git a/src/landmark/landmark_match_polyline_2d.cpp b/src/landmark/landmark_match_polyline_2d.cpp
index 8939f5c1349a473e738fa1a6e58e00f8d4fdd862..f26662fdc45cf69704631b3ff665183ded53559f 100644
--- a/src/landmark/landmark_match_polyline_2d.cpp
+++ b/src/landmark/landmark_match_polyline_2d.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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--------
 /*
  * landmark_match_polyline_2d.cpp
  *
diff --git a/src/landmark/landmark_polyline_2d.cpp b/src/landmark/landmark_polyline_2d.cpp
index 29d9041d363eff2008e23ecb695d60d6c9388946..4a912e9a731ac557e87c162fd1265cfbae6ea30d 100644
--- a/src/landmark/landmark_polyline_2d.cpp
+++ b/src/landmark/landmark_polyline_2d.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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 landmark_polyline_2d.cpp
  *
diff --git a/src/processor/polyline_2d_utils.cpp b/src/processor/polyline_2d_utils.cpp
index 384f49012d940a789acc061df4dbaae028252f47..c001dc5a5f247d82699fa4ba7bbed8f8f295f5a8 100644
--- a/src/processor/polyline_2d_utils.cpp
+++ b/src/processor/polyline_2d_utils.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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 "laser/processor/polyline_2d_utils.h"
 
 namespace wolf {
diff --git a/src/processor/processor_loop_closure_icp.cpp b/src/processor/processor_loop_closure_icp.cpp
index 8afcd6ef6e022db2b99d9247aab8412ee1507a77..b93ee3848a279510bdf5267c0f61300bbe19bd5d 100644
--- a/src/processor/processor_loop_closure_icp.cpp
+++ b/src/processor/processor_loop_closure_icp.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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 "laser/processor/processor_loop_closure_icp.h"
 #include "laser/sensor/sensor_laser_2d.h"
 #include "core/math/covariance.h"
diff --git a/src/processor/processor_odom_icp.cpp b/src/processor/processor_odom_icp.cpp
index da6d7d2b1426d81605d1803305375c03d4e1fb00..bd5808fce567edd8e748b6b148f8304f0a8d762a 100644
--- a/src/processor/processor_odom_icp.cpp
+++ b/src/processor/processor_odom_icp.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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 "laser/processor/processor_odom_icp.h"
 #include "laser/math/laser_tools.h"
 #include "core/math/covariance.h"
diff --git a/src/processor/processor_tracker_feature_polyline_2d.cpp b/src/processor/processor_tracker_feature_polyline_2d.cpp
index fc7ef54669b0bfec3fee40c3e1477d214660bedc..7727ba96418c0b951d57e869e59540a02de76c4a 100644
--- a/src/processor/processor_tracker_feature_polyline_2d.cpp
+++ b/src/processor/processor_tracker_feature_polyline_2d.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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--------
 /*
  * processor_tracker_feature_polyline_2d.cpp
  *
diff --git a/src/sensor/sensor_laser_2d.cpp b/src/sensor/sensor_laser_2d.cpp
index 04e2cfe371c5a5a8edfaecafe200fc8e4b32a1d4..cca8b28df535d7ee7ae6db98e09db4e304524118 100644
--- a/src/sensor/sensor_laser_2d.cpp
+++ b/src/sensor/sensor_laser_2d.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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 "laser/sensor/sensor_laser_2d.h"
 
 #include <core/state_block/state_block.h>
diff --git a/src/solver_suitesparse/solver_manager.cpp b/src/solver_suitesparse/solver_manager.cpp
index 908a2f4aabcddc90248ab99261c7d5824c54c826..aa767438d338d6aebcde2340409c022fa2f302c4 100644
--- a/src/solver_suitesparse/solver_manager.cpp
+++ b/src/solver_suitesparse/solver_manager.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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/ceres_manager.h"
 
 SolverManager::SolverManager()
diff --git a/src/state_block/local_parametrization_polyline_extreme.cpp b/src/state_block/local_parametrization_polyline_extreme.cpp
index 50999a48da61aeb39b75fa81d0e5b33e94f062c7..bceb83518edecd44a2d955bb36c4455382945414 100644
--- a/src/state_block/local_parametrization_polyline_extreme.cpp
+++ b/src/state_block/local_parametrization_polyline_extreme.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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 "laser/state_block/local_parametrization_polyline_extreme.h"
 #include "core/state_block/state_block.h"
 #include "core/math/rotations.h"
diff --git a/src/yaml/processor_odom_icp_yaml.cpp b/src/yaml/processor_odom_icp_yaml.cpp
index dc5e41049155e3816ff1d346ca803a6942bd911e..ac45306cf57f971c5bf02f393738a29dbc341f48 100644
--- a/src/yaml/processor_odom_icp_yaml.cpp
+++ b/src/yaml/processor_odom_icp_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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 processor_odom_Icp_yaml.cpp
  *
diff --git a/src/yaml/sensor_laser_2d_yaml.cpp b/src/yaml/sensor_laser_2d_yaml.cpp
index 93bcb8e55780c6fc2ba0bf2e71feb2a75b662e36..9f35975f927716eb9f72cdbf6f2fb55df3f23b45 100644
--- a/src/yaml/sensor_laser_2d_yaml.cpp
+++ b/src/yaml/sensor_laser_2d_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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 sensor_laser_2d_yaml.cpp
  *
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 9897aee27986c4d9104af0afc57ab79a94d0afc0..c75a1957be69ff023966f3c9d0c59dd1fd7eb0f6 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -13,7 +13,7 @@ target_link_libraries(gtest_example ${PLUGIN_NAME})       #
 ###########################################################
 
 wolf_add_gtest(gtest_landmark_polyline gtest_landmark_polyline.cpp)
-target_link_libraries(gtest_landmark_polyline ${PLUGIN_NAME} ${wolf_LIBRARY})
+target_link_libraries(gtest_landmark_polyline ${PLUGIN_NAME})
 
 if(csm_FOUND)
 	wolf_add_gtest(gtest_processor_odom_icp gtest_processor_odom_icp.cpp)
@@ -24,7 +24,7 @@ if(csm_FOUND)
 endif(csm_FOUND)
 
 wolf_add_gtest(gtest_polyline_2d gtest_polyline_2d.cpp)
-target_link_libraries(gtest_polyline_2d ${PLUGIN_NAME} ${wolf_LIBRARY})
+target_link_libraries(gtest_polyline_2d ${PLUGIN_NAME})
 
 if(falkolib_FOUND)
 	wolf_add_gtest(gtest_processor_loop_closure_falko gtest_processor_loop_closure_falko.cpp)
diff --git a/test/gtest_example.cpp b/test/gtest_example.cpp
index 140792d538ab5ae568ba7743fbc49bce0bb6d9f2..979fabb18a7fc70dff93e5d91e02be065a05b753 100644
--- a/test/gtest_example.cpp
+++ b/test/gtest_example.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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/utils/utils_gtest.h>
 
 TEST(TestTest, DummyTestExample)
diff --git a/test/gtest_landmark_polyline.cpp b/test/gtest_landmark_polyline.cpp
index b2b2f18d31b970c44a151455fceb129873b3879e..9b6ec1f578ff1df8a32aab429a1afe3c2dc23f6f 100644
--- a/test/gtest_landmark_polyline.cpp
+++ b/test/gtest_landmark_polyline.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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/utils/utils_gtest.h>
 #include "laser/landmark/landmark_polyline_2d.h"
 
diff --git a/test/gtest_polyline_2d.cpp b/test/gtest_polyline_2d.cpp
index e2a0839a66f4f796c670d79102dc502fbe4f5da2..b3c4eb31a13e4ee7ed94a6d1dfa3704a2a06cec2 100644
--- a/test/gtest_polyline_2d.cpp
+++ b/test/gtest_polyline_2d.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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 <stdlib.h>
 #include <core/utils/utils_gtest.h>
 #include "laser/processor/polyline_2d_utils.h"
diff --git a/test/gtest_processor_odom_icp.cpp b/test/gtest_processor_odom_icp.cpp
index aeb2422d87205f67c2322c40db88d26f495890fc..9b479fcbdd4b3407862db31c1224525be874dbc6 100644
--- a/test/gtest_processor_odom_icp.cpp
+++ b/test/gtest_processor_odom_icp.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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_odom_icp.cpp
  *