diff --git a/AUTHORS b/AUTHORS
new file mode 100644
index 0000000..8db7450
--- /dev/null
+++ b/AUTHORS
@@ -0,0 +1,5 @@
+# Authors of Magrob
+#
+# The following individuals and organizations hold copyright for this project:
+
+Pimpest
diff --git a/mg_control/include/mg_control/mg_control.hpp b/mg_control/include/mg_control/mg_control.hpp
index 56ed496..005d1de 100644
--- a/mg_control/include/mg_control/mg_control.hpp
+++ b/mg_control/include/mg_control/mg_control.hpp
@@ -1,3 +1,17 @@
+/** Copyright 2025 The Magrob Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
 #ifndef MG_WHEEL_INTERFACE_HPP_
 #define MG_WHEEL_INTERFACE_HPP_
 #include <vector>
diff --git a/mg_control/src/mg_control.cpp b/mg_control/src/mg_control.cpp
index 26ef4e7..3582f30 100644
--- a/mg_control/src/mg_control.cpp
+++ b/mg_control/src/mg_control.cpp
@@ -1,3 +1,17 @@
+/** Copyright 2025 The Magrob Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
 #include "mg_control/mg_control.hpp"
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 
diff --git a/mg_msgs/package.xml b/mg_msgs/package.xml
index b396373..86b89b5 100644
--- a/mg_msgs/package.xml
+++ b/mg_msgs/package.xml
@@ -5,7 +5,7 @@
   <version>0.0.0</version>
   <description>This contains various msg/action used within the project</description>
   <maintainer email="82343504+Pimpest@users.noreply.github.com">Pimpest</maintainer>
-  <license>MIT</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
diff --git a/mg_navigation/include/handlers/dwm.hpp b/mg_navigation/include/handlers/dwm.hpp
index 6788d46..ac59d12 100644
--- a/mg_navigation/include/handlers/dwm.hpp
+++ b/mg_navigation/include/handlers/dwm.hpp
@@ -1,3 +1,17 @@
+/** Copyright 2025 The Magrob Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
 #pragma once
 
 #include "handlers/dwm_core.hpp"
diff --git a/mg_navigation/include/handlers/dwm_core.hpp b/mg_navigation/include/handlers/dwm_core.hpp
index eee0618..1d011d1 100644
--- a/mg_navigation/include/handlers/dwm_core.hpp
+++ b/mg_navigation/include/handlers/dwm_core.hpp
@@ -1,3 +1,17 @@
+/** Copyright 2025 The Magrob Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
 #pragma once
 
 #include "glm/glm.hpp"
diff --git a/mg_navigation/include/handlers/dwm_forward.hpp b/mg_navigation/include/handlers/dwm_forward.hpp
index 5b32674..79201e7 100644
--- a/mg_navigation/include/handlers/dwm_forward.hpp
+++ b/mg_navigation/include/handlers/dwm_forward.hpp
@@ -1,3 +1,17 @@
+/** Copyright 2025 The Magrob Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
 #pragma once
 #include "handlers/dwm_core.hpp"
 
diff --git a/mg_navigation/include/handlers/dwm_lookat.hpp b/mg_navigation/include/handlers/dwm_lookat.hpp
index 8bc3fe7..be2246e 100644
--- a/mg_navigation/include/handlers/dwm_lookat.hpp
+++ b/mg_navigation/include/handlers/dwm_lookat.hpp
@@ -1,3 +1,17 @@
+/** Copyright 2025 The Magrob Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
 #pragma once
 #include "handlers/dwm_core.hpp"
 
diff --git a/mg_navigation/include/handlers/dwm_point.hpp b/mg_navigation/include/handlers/dwm_point.hpp
index a6f69cc..0131e5c 100644
--- a/mg_navigation/include/handlers/dwm_point.hpp
+++ b/mg_navigation/include/handlers/dwm_point.hpp
@@ -1,3 +1,17 @@
+/** Copyright 2025 The Magrob Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
 #pragma once
 #include "handlers/dwm_core.hpp"
 
diff --git a/mg_navigation/include/mg_navigation.hpp b/mg_navigation/include/mg_navigation.hpp
index c8787f7..452b1b7 100644
--- a/mg_navigation/include/mg_navigation.hpp
+++ b/mg_navigation/include/mg_navigation.hpp
@@ -1,3 +1,17 @@
+/** Copyright 2025 The Magrob Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
 #pragma once
 
 #include <thread>
diff --git a/mg_navigation/src/mg_navigation.cpp b/mg_navigation/src/mg_navigation.cpp
index c1da57b..57de63c 100644
--- a/mg_navigation/src/mg_navigation.cpp
+++ b/mg_navigation/src/mg_navigation.cpp
@@ -1,3 +1,17 @@
+/** Copyright 2025 The Magrob Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
 #include <iostream>
 #include <functional>
 #include <thread>
diff --git a/mg_odometry/src/mg_odom_publisher.cpp b/mg_odometry/src/mg_odom_publisher.cpp
index e6504e3..ade6a82 100644
--- a/mg_odometry/src/mg_odom_publisher.cpp
+++ b/mg_odometry/src/mg_odom_publisher.cpp
@@ -1,3 +1,17 @@
+/** Copyright 2025 The Magrob Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
 #include <chrono>
 #include <functional>
 #include <memory>