diff --git a/include/laser/processor/processor_odom_icp_3d.h b/include/laser/processor/processor_odom_icp_3d.h
index 655b72090286104dbd03dfa6337fcb555830a1cf..e66b941d48fbafe9f12391c5bfefdf6710fff459 100644
--- a/include/laser/processor/processor_odom_icp_3d.h
+++ b/include/laser/processor/processor_odom_icp_3d.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 
 #ifndef SRC_PROCESSOR_ODOM_ICP_3D_H_
 #define SRC_PROCESSOR_ODOM_ICP_3D_H_
diff --git a/include/laser/sensor/sensor_laser_3d.h b/include/laser/sensor/sensor_laser_3d.h
index 9f047946ee5ddaa52d40f61ca4d2e620e8c55411..fbe7d34ae03614e9799902d5f52c7ca30b7aa60f 100644
--- a/include/laser/sensor/sensor_laser_3d.h
+++ b/include/laser/sensor/sensor_laser_3d.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef SENSOR_LASER_3d_H_
 #define SENSOR_LASER_3d_H_
 
diff --git a/include/laser/utils/laser3d_tools.h b/include/laser/utils/laser3d_tools.h
index c98305ea8c372850babf878c9ffe8f43afcdaa8c..c258ee7c7a1c1a19177d851d6b0681724db8834e 100644
--- a/include/laser/utils/laser3d_tools.h
+++ b/include/laser/utils/laser3d_tools.h
@@ -1,3 +1,26 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+
+
 #include <pcl/point_types.h>
 #include <pcl/point_cloud.h>
 #include <pcl/common/transforms.h>
diff --git a/src/processor/processor_odom_icp_3d.cpp b/src/processor/processor_odom_icp_3d.cpp
index 641ecc9cacca8f8f646970096a4d4a3117beb451..2b1ed003d030247bb7aa1b1cf14d80fcd91cd928 100644
--- a/src/processor/processor_odom_icp_3d.cpp
+++ b/src/processor/processor_odom_icp_3d.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "laser/processor/processor_odom_icp_3d.h"
 #include "laser/utils/laser3d_tools.h"
 #include "core/factor/factor_relative_pose_3d_with_extrinsics.h"  
diff --git a/src/sensor/sensor_laser_3d.cpp b/src/sensor/sensor_laser_3d.cpp
index dd71f5a18531710e1ee210d8bd8bada7ffba6919..f72ae298bdcac594a40d3cff7e61eb3e8733715a 100644
--- a/src/sensor/sensor_laser_3d.cpp
+++ b/src/sensor/sensor_laser_3d.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "laser/sensor/sensor_laser_3d.h"
 
 namespace wolf
diff --git a/test/gtest_laser3d_tools.cpp b/test/gtest_laser3d_tools.cpp
index eb9c5f2d8792f16eebf1c27bffda629f433b9fdf..196284fc8b581ca62e4dfa59c0d620e5c375fd47 100644
--- a/test/gtest_laser3d_tools.cpp
+++ b/test/gtest_laser3d_tools.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 
 // wolf laser
 #include "laser/utils/laser3d_tools.h"