From 2f899c422b7f9bcf24b8403858ae72a0f454e214 Mon Sep 17 00:00:00 2001 From: SamerKhshiboun Date: Wed, 27 Mar 2024 10:23:53 +0000 Subject: [PATCH 01/11] add security.md as part of SDLe CT256 --- security.md | 6 ++++++ 1 file changed, 6 insertions(+) create mode 100644 security.md diff --git a/security.md b/security.md new file mode 100644 index 0000000000..d5f1e5eaca --- /dev/null +++ b/security.md @@ -0,0 +1,6 @@ +# Security Policy +Intel is committed to rapidly addressing security vulnerabilities affecting our customers and providing clear guidance on the solution, impact, severity and mitigation. + +## Reporting a Vulnerability +Please report any security vulnerabilities in this project [utilizing the guidelines here](https://www.intel.com/content/www/us/en/security-center/vulnerability-handling-guidelines.html). + From 4cc91e6b694cf1849720579802f23e3295a90ccf Mon Sep 17 00:00:00 2001 From: SamerKhshiboun Date: Wed, 27 Mar 2024 23:40:12 +0000 Subject: [PATCH 02/11] update checkout to v4 --- .github/workflows/main.yml | 2 +- .github/workflows/pre-release.yml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml index 93a0bcb4b0..90de07232c 100644 --- a/.github/workflows/main.yml +++ b/.github/workflows/main.yml @@ -40,7 +40,7 @@ jobs: run: | mkdir -p ${{github.workspace}}/ros2/src - - uses: actions/checkout@v3 + - uses: actions/checkout@v4 with: path: 'ros2/src/realsense-ros' diff --git a/.github/workflows/pre-release.yml b/.github/workflows/pre-release.yml index 66d2332deb..29122ffe10 100644 --- a/.github/workflows/pre-release.yml +++ b/.github/workflows/pre-release.yml @@ -45,6 +45,6 @@ jobs: BASEDIR: ${{ github.workspace }}/.work steps: - - uses: actions/checkout@v3 + - uses: actions/checkout@v4 - name: industrial_ci uses: ros-industrial/industrial_ci@master From 1443278695ff559dc964261ca88c7f90014c6c1e Mon Sep 17 00:00:00 2001 From: SamerKhshiboun Date: Wed, 27 Mar 2024 23:42:03 +0000 Subject: [PATCH 03/11] update checkout to v4 --- .github/workflows/main.yml | 2 +- .github/workflows/pre-release.yml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml index 93a0bcb4b0..90de07232c 100644 --- a/.github/workflows/main.yml +++ b/.github/workflows/main.yml @@ -40,7 +40,7 @@ jobs: run: | mkdir -p ${{github.workspace}}/ros2/src - - uses: actions/checkout@v3 + - uses: actions/checkout@v4 with: path: 'ros2/src/realsense-ros' diff --git a/.github/workflows/pre-release.yml b/.github/workflows/pre-release.yml index 66d2332deb..29122ffe10 100644 --- a/.github/workflows/pre-release.yml +++ b/.github/workflows/pre-release.yml @@ -45,6 +45,6 @@ jobs: BASEDIR: ${{ github.workspace }}/.work steps: - - uses: actions/checkout@v3 + - uses: actions/checkout@v4 - name: industrial_ci uses: ros-industrial/industrial_ci@master From 314948be490cf78fe55358974eeb7d2ade1819d0 Mon Sep 17 00:00:00 2001 From: SamerKhshiboun Date: Sun, 31 Mar 2024 06:04:32 +0000 Subject: [PATCH 04/11] revert from installation for foxy distro on ubuntu 20 --- .github/workflows/main.yml | 36 +++++++++++++++---- README.md | 17 ++++++--- realsense2_camera/CMakeLists.txt | 6 +++- realsense2_camera/package.xml | 22 ++++++------ realsense2_camera/src/base_realsense_node.cpp | 7 ++++ realsense2_camera/src/dynamic_params.cpp | 6 +++- 6 files changed, 70 insertions(+), 24 deletions(-) diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml index 90de07232c..db9b619f72 100644 --- a/.github/workflows/main.yml +++ b/.github/workflows/main.yml @@ -25,7 +25,7 @@ jobs: strategy: fail-fast: false matrix: - ros_distro: [rolling, iron, humble] + ros_distro: [rolling, iron, humble, foxy] include: - ros_distro: 'rolling' os: ubuntu-22.04 @@ -33,6 +33,8 @@ jobs: os: ubuntu-22.04 - ros_distro: 'humble' os: ubuntu-22.04 + - ros_distro: 'foxy' + os: ubuntu-20.04 steps: @@ -50,13 +52,27 @@ jobs: cd ${{github.workspace}}/ros2/src/realsense-ros/scripts ./pr_check.sh - - name: build ROS2 + # setup-ros@v0.6 is the last version supporting foxy (EOL) + # setup-ros@v0.7 is needed to support humble/iron/rolling + # so, seperating steps with if conditions + - name: build ROS2 for foxy + if: ${{ matrix.ros_distro == 'foxy' }} + uses: ros-tooling/setup-ros@v0.6 + with: + required-ros-distributions: ${{ matrix.ros_distro }} + - name: build ROS2 for humble/iron/rolling + if: ${{ matrix.ros_distro != 'foxy' }} uses: ros-tooling/setup-ros@v0.7 with: required-ros-distributions: ${{ matrix.ros_distro }} - - name: Build RealSense SDK 2.0 from source + - name: Build RealSense SDK 2.0 (development branch) from source run: | + + # libusb-1.0-0-dev is needed for librealsense build in ubuntu 20.04 + # This apt install command will be ignored in ubuntu 22.04 as libusb-1.0-0-dev already installed there + sudo apt install -y libusb-1.0-0-dev + cd ${{github.workspace}} git clone https://github.com/IntelRealSense/librealsense.git -b development cd librealsense @@ -68,13 +84,13 @@ jobs: sudo make -j10 sudo make install - - name: Build RealSense ROS2 Wrapper - run: | + - name: Build RealSense ROS2 Wrapper from source + run: | echo "source /opt/ros/${{ matrix.ros_distro }}/setup.bash" >> ${{github.workspace}}/.bashrc source ${{github.workspace}}/.bashrc cd ${{github.workspace}}/ros2 echo "================= ROSDEP UPDATE =====================" - rosdep update --rosdistro ${{ matrix.ros_distro }} + rosdep update --rosdistro ${{ matrix.ros_distro }} --include-eol-distros echo "================= ROSDEP INSTALL ====================" rosdep install -i --reinstall --from-path src --rosdistro ${{ matrix.ros_distro }} --skip-keys=librealsense2 -y echo "================== COLCON BUILD ======================" @@ -103,10 +119,16 @@ jobs: cd ${{github.workspace}}/ros2 source ${{github.workspace}}/.bashrc . install/local_setup.bash + # the next command might be needed for foxy distro, since this package is not installed + # by default in ubuntu 20.04. For other distro, the apt install command will be ignored. + sudo apt install -y ros-${{matrix.ros_distro}}-sensor-msgs-py python3 src/realsense-ros/realsense2_camera/scripts/rs2_test.py non_existent_file + # don't run integration tests for foxy since some testing dependecies packages like + # tf_ros_py are not avaialble + # TODO: check when we can run integration tests on rolling - name: Run integration tests - if: ${{ matrix.ros_distro != 'rolling'}} + if: ${{ matrix.ros_distro != 'rolling' && matrix.ros_distro != 'foxy' }} run: | cd ${{github.workspace}}/ros2 source ${{github.workspace}}/.bashrc diff --git a/README.md b/README.md index c5b8abf6a4..529ae1fbc0 100644 --- a/README.md +++ b/README.md @@ -14,6 +14,7 @@ [![rolling][rolling-badge]][rolling] [![iron][iron-badge]][iron] [![humble][humble-badge]][humble] +[![foxy][foxy-badge]][foxy] [![ubuntu22][ubuntu22-badge]][ubuntu22] [![ubuntu20][ubuntu20-badge]][ubuntu20] @@ -90,12 +91,15 @@ - #### Ubuntu 22.04: - [ROS2 Iron](https://docs.ros.org/en/iron/Installation/Ubuntu-Install-Debians.html) - [ROS2 Humble](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html) + #### Ubuntu 20.04 + - [ROS2 Foxy](https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html)
Step 2: Install latest Intel® RealSense™ SDK 2.0 + **Please choose only one option from the 3 options below (in order to prevent multiple versions installation and workspace conflicts)** - #### Option 1: Install librealsense2 debian package from Intel servers @@ -103,7 +107,7 @@ - Otherwise, install from [Linux Debian Installation Guide](https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages) - In this case treat yourself as a developer: make sure to follow the instructions to also install librealsense2-dev and librealsense2-dkms packages -- #### Option 2: Install librealsense2 (without graphical tools and examples) debian package from ROS servers: +- #### Option 2: Install librealsense2 (without graphical tools and examples) debian package from ROS servers (Foxy EOL distro is not supported by this option): - [Configure](http://wiki.ros.org/Installation/Ubuntu/Sources) your Ubuntu repositories - Install all realsense ROS packages by ```sudo apt install ros--librealsense2*``` - For example, for Humble distro: ```sudo apt install ros-humble-librealsense2*``` @@ -119,7 +123,7 @@ Step 3: Install Intel® RealSense™ ROS2 wrapper -#### Option 1: Install debian package from ROS servers +#### Option 1: Install debian package from ROS servers (Foxy EOL distro is not supported by this option): - [Configure](http://wiki.ros.org/Installation/Ubuntu/Sources) your Ubuntu repositories - Install all realsense ROS packages by ```sudo apt install ros--realsense2-*``` - For example, for Humble distro: ```sudo apt install ros-humble-realsense2-*``` @@ -153,7 +157,7 @@ - Source environment ```bash - ROS_DISTRO= # set your ROS_DISTRO: iron, humble + ROS_DISTRO= # set your ROS_DISTRO: iron, humble, foxy source /opt/ros/$ROS_DISTRO/setup.bash cd ~/ros2_ws . install/local_setup.bash @@ -172,14 +176,17 @@ - #### Windows 10/11 + **Please choose only one option from the two options below (in order to prevent multiple versions installation and workspace conflicts)** + - Manual install from ROS2 formal documentation: - [ROS2 Iron](https://docs.ros.org/en/iron/Installation/Windows-Install-Binary.html) - [ROS2 Humble](https://docs.ros.org/en/humble/Installation/Windows-Install-Binary.html) + - [ROS2 Foxy](https://docs.ros.org/en/foxy/Installation/Windows-Install-Binary.html) - Microsoft IOT binary installation: - https://ms-iot.github.io/ROSOnWindows/GettingStarted/SetupRos2.html - Pay attention that the examples of install are for Foxy distro (which is not supported anymore by RealSense ROS2 Wrapper) - - Please replace the word "Foxy" with Humble or Iron, as you choose + - Please replace the word "Foxy" with Humble or Iron, depends on the chosen distro.
@@ -676,6 +683,8 @@ ros2 launch realsense2_camera rs_intra_process_demo_launch.py intra_process_comm [rolling-badge]: https://img.shields.io/badge/-ROLLING-orange?style=flat-square&logo=ros [rolling]: https://docs.ros.org/en/rolling/index.html +[foxy-badge]: https://img.shields.io/badge/-foxy-orange?style=flat-square&logo=ros +[foxy]: https://docs.ros.org/en/foxy/index.html [humble-badge]: https://img.shields.io/badge/-HUMBLE-orange?style=flat-square&logo=ros [humble]: https://docs.ros.org/en/humble/index.html [iron-badge]: https://img.shields.io/badge/-IRON-orange?style=flat-square&logo=ros diff --git a/realsense2_camera/CMakeLists.txt b/realsense2_camera/CMakeLists.txt index cf2331e611..a838364f8d 100644 --- a/realsense2_camera/CMakeLists.txt +++ b/realsense2_camera/CMakeLists.txt @@ -154,7 +154,11 @@ endif() if(NOT DEFINED ENV{ROS_DISTRO}) message(FATAL_ERROR "ROS_DISTRO is not defined." ) endif() -if("$ENV{ROS_DISTRO}" STREQUAL "humble") +if("$ENV{ROS_DISTRO}" STREQUAL "foxy") + message(STATUS "Build for ROS2 Foxy") + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DFOXY") + set(SOURCES "${SOURCES}" src/ros_param_backend.cpp) +elseif("$ENV{ROS_DISTRO}" STREQUAL "humble") message(STATUS "Build for ROS2 Humble") set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DHUMBLE") set(SOURCES "${SOURCES}" src/ros_param_backend.cpp) diff --git a/realsense2_camera/package.xml b/realsense2_camera/package.xml index 6db46cff68..9ff26e3d55 100644 --- a/realsense2_camera/package.xml +++ b/realsense2_camera/package.xml @@ -28,17 +28,17 @@ tf2 tf2_ros diagnostic_updater - ament_cmake_gtest - launch_testing - ament_cmake_pytest - launch_pytest - sensor_msgs_py - python3-numpy - python3-tqdm - sensor_msgs_py - python3-requests - tf2_ros_py - ros2topic + ament_cmake_gtest + launch_testing + ament_cmake_pytest + launch_pytest + sensor_msgs_py + python3-numpy + python3-tqdm + sensor_msgs_py + python3-requests + tf2_ros_py + ros2topic launch_ros ros_environment diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp index 4e7a508525..4b88ec7df1 100755 --- a/realsense2_camera/src/base_realsense_node.cpp +++ b/realsense2_camera/src/base_realsense_node.cpp @@ -690,7 +690,14 @@ rclcpp::Time BaseRealSenseNode::frameSystemTimeSec(rs2::frame frame) { double elapsed_camera_ns = millisecondsToNanoseconds(timestamp_ms - _camera_time_base); + /* + Fixing deprecated-declarations compilation error for EOL distro (foxy) + */ +#if defined(FOXY) + auto duration = rclcpp::Duration(elapsed_camera_ns); +#else auto duration = rclcpp::Duration::from_nanoseconds(elapsed_camera_ns); +#endif return rclcpp::Time(_ros_time_base + duration); } diff --git a/realsense2_camera/src/dynamic_params.cpp b/realsense2_camera/src/dynamic_params.cpp index 52a521240d..ef7d73cd9e 100644 --- a/realsense2_camera/src/dynamic_params.cpp +++ b/realsense2_camera/src/dynamic_params.cpp @@ -115,7 +115,11 @@ namespace realsense2_camera try { ROS_DEBUG_STREAM("setParam::Setting parameter: " << param_name); - descriptor.dynamic_typing=true; // Without this, undeclare_parameter() throws error. +#if defined(FOXY) + //do nothing for old versions (foxy) +#else + descriptor.dynamic_typing=true; +#endif if (!_node.get_parameter(param_name, result_value)) { result_value = _node.declare_parameter(param_name, initial_value, descriptor); From d80ccf4c95594eb97245663d0add8a47ebdb9458 Mon Sep 17 00:00:00 2001 From: SamerKhshiboun Date: Sun, 7 Apr 2024 18:35:08 +0000 Subject: [PATCH 05/11] fix compilation warning: stream_type may be used uninitialized --- realsense2_camera/src/ros_sensor.cpp | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/realsense2_camera/src/ros_sensor.cpp b/realsense2_camera/src/ros_sensor.cpp index 0c939f0f2d..f0a5aa5331 100644 --- a/realsense2_camera/src/ros_sensor.cpp +++ b/realsense2_camera/src/ros_sensor.cpp @@ -13,6 +13,7 @@ // limitations under the License. #include +#include using namespace realsense2_camera; using namespace rs2; @@ -409,7 +410,7 @@ void RosSensor::set_sensor_auto_exposure_roi() { try { - rs2_stream stream_type; + rs2_stream stream_type = RS2_STREAM_ANY; if (this->rs2::sensor::is()) { stream_type = RS2_STREAM_DEPTH; @@ -418,6 +419,7 @@ void RosSensor::set_sensor_auto_exposure_roi() { stream_type = RS2_STREAM_COLOR; } + assert(stream_type != RS2_STREAM_ANY); int width = std::dynamic_pointer_cast(_profile_managers[0])->getWidth(stream_type); int height = std::dynamic_pointer_cast(_profile_managers[0])->getHeight(stream_type); @@ -451,7 +453,7 @@ void RosSensor::registerAutoExposureROIOptions() if (this->rs2::sensor::is()) { - rs2_stream stream_type; + rs2_stream stream_type = RS2_STREAM_ANY; if (this->rs2::sensor::is()) { stream_type = RS2_STREAM_DEPTH; @@ -460,7 +462,8 @@ void RosSensor::registerAutoExposureROIOptions() { stream_type = RS2_STREAM_COLOR; } - + assert(stream_type != RS2_STREAM_ANY); + int width = std::dynamic_pointer_cast(_profile_managers[0])->getWidth(stream_type); int height = std::dynamic_pointer_cast(_profile_managers[0])->getHeight(stream_type); From a75c2e2a88b1b00bbc1f091965130cbbdc12d090 Mon Sep 17 00:00:00 2001 From: SamerKhshiboun Date: Sun, 7 Apr 2024 18:45:46 +0000 Subject: [PATCH 06/11] fetch string from output substitution object for foxy --- realsense2_camera/launch/rs_launch.py | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/realsense2_camera/launch/rs_launch.py b/realsense2_camera/launch/rs_launch.py index 0fa7938ae1..bdbdfd0ac8 100644 --- a/realsense2_camera/launch/rs_launch.py +++ b/realsense2_camera/launch/rs_launch.py @@ -98,6 +98,14 @@ def yaml_to_dict(path_to_yaml): def launch_setup(context, params, param_name_suffix=''): _config_file = LaunchConfiguration('config_file' + param_name_suffix).perform(context) params_from_file = {} if _config_file == "''" else yaml_to_dict(_config_file) + + _output = LaunchConfiguration('output' + param_name_suffix) + if(os.getenv('ROS_DISTRO') == 'foxy'): + # Foxy doesn't support output as substitution object (LaunchConfiguration object) + # but supports it as string, so we fetch the string from this substitution object + # see related PR that was merged for humble, iron, rolling: https://github.com/ros2/launch/pull/577 + _output = context.perform_substitution(_output) + return [ launch_ros.actions.Node( package='realsense2_camera', @@ -105,7 +113,7 @@ def launch_setup(context, params, param_name_suffix=''): name=LaunchConfiguration('camera_name' + param_name_suffix), executable='realsense2_camera_node', parameters=[params, params_from_file], - output=LaunchConfiguration('output' + param_name_suffix), + output=_output, arguments=['--ros-args', '--log-level', LaunchConfiguration('log_level' + param_name_suffix)], emulate_tty=True, ) From c5f484a36371eca9ffa394f24b7d7f01a35d3a2c Mon Sep 17 00:00:00 2001 From: SamerKhshiboun Date: Sun, 7 Apr 2024 19:05:09 +0000 Subject: [PATCH 07/11] fix workflow for rolling --- .github/workflows/main.yml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml index 90de07232c..8cad39e4fb 100644 --- a/.github/workflows/main.yml +++ b/.github/workflows/main.yml @@ -74,6 +74,10 @@ jobs: source ${{github.workspace}}/.bashrc cd ${{github.workspace}}/ros2 echo "================= ROSDEP UPDATE =====================" + # temp fix for rolling sources.. TODO: track when we can remove the two commands below + # see https://discourse.ros.org/t/psa-rolling-ci-or-docker-build-fix-from-rosdep-errors-in-24-04-transition/36902 + sudo sed -i "s|ros\/rosdistro\/master|ros\/rosdistro\/rolling\/2024-02-28|" /etc/ros/rosdep/sources.list.d/20-default.list + export ROSDISTRO_INDEX_URL=https://raw.githubusercontent.com/ros/rosdistro/rolling/2024-02-28/index-v4.yaml rosdep update --rosdistro ${{ matrix.ros_distro }} echo "================= ROSDEP INSTALL ====================" rosdep install -i --reinstall --from-path src --rosdistro ${{ matrix.ros_distro }} --skip-keys=librealsense2 -y From 72992de0e9c2197d33b50fb0686fa54a95f8d2a2 Mon Sep 17 00:00:00 2001 From: SamerKhshiboun Date: Tue, 9 Apr 2024 07:59:19 +0300 Subject: [PATCH 08/11] update notice file (TPP) --- NOTICE | 4 - NOTICE.md | 327 ++++++++++++++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 327 insertions(+), 4 deletions(-) delete mode 100644 NOTICE create mode 100644 NOTICE.md diff --git a/NOTICE b/NOTICE deleted file mode 100644 index f986287012..0000000000 --- a/NOTICE +++ /dev/null @@ -1,4 +0,0 @@ -This project uses code from the following third-party projects, listed here -with the full text of their respective licenses. - -ddynamic_reconfigure (BSD) - https://github.com/awesomebytes/ddynamic_reconfigure diff --git a/NOTICE.md b/NOTICE.md new file mode 100644 index 0000000000..246ae907fa --- /dev/null +++ b/NOTICE.md @@ -0,0 +1,327 @@ +# **Intel® RealSense™ ROS Wrapper Third Party Programs** +## This file specifies all 3rd party SW components used for Intel® RealSense™ ROS Wrapper and the inbound license for each of these 3rd party components. + +# **Apache License 2.0 Third Party Programs** + +|Component|Home Page|License|copyright| +| :- | :- | :- | :- | +|librealsense2|

|Apache License 2.0|None| +|Rclcpp|

 

|Apache License 2.0|None| +|rclcpp\_components|

 

|Apache License 2.0|None| +|builtin\_interfaces|

|Apache License 2.0|None| +|cv\_bridge|

 

|Apache License 2.0|None| +|geometry\_msgs|

 

|Apache License 2.0|None| +|nav\_msgs|

 

|Apache License 2.0|None| +|std\_msgs|

 

|Apache License 2.0|None| +|sensor\_msgs||Apache License 2.0|None| +|ament\_cmake|

|Apache License 2.0|None| +|rosidl\_default\_generators|

|Apache License 2.0|None| +|launch\_pytest|

|Apache License 2.0|None| +|ros\_environment|

|Apache License 2.0|None| +|ros2topic|

|Apache License 2.0|None| +|

rosidl\_default\_runtime

|

|Apache License 2.0|None| +|launch\_ros|

|Apache License 2.0|None| +|ament\_lint\_auto|

|Apache License 2.0|None| +|ament\_lint\_common|

|Apache License 2.0|None| +|ament\_cmake\_gtest|

|Apache License 2.0|None| +|launch\_testing|

|Apache License 2.0|None| +|sensor\_msgs\_py|

|Apache License 2.0|None| +|Open CV|

|Apache License 2.0|

Copyright (C) 2000-2022, Intel Corporation, all rights reserved.

Copyright (C) 2009-2011, Willow Garage Inc., all rights reserved.

Copyright (C) 2009-2016, NVIDIA Corporation, all rights reserved.

Copyright (C) 2010-2013, Advanced Micro Devices, Inc., all rights reserved.

Copyright (C) 2015-2023, OpenCV Foundation, all rights reserved.

Copyright (C) 2008-2016, Itseez Inc., all rights reserved.

Copyright (C) 2019-2023, Xperience AI, all rights reserved.

Copyright (C) 2019-2022, Shenzhen Institute of Artificial Intelligence and Robotics for Society, all rights reserved.

Copyright (C) 2022-2023, Southern University of Science And Technology, all rights reserved.

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Grant of Copyright License. + +Subject to the terms and conditions of this License, each Contributor hereby grants to You a perpetual, worldwide, non-exclusive, no-charge, royalty-free, irrevocable copyright license to reproduce, prepare Derivative Works of, publicly display, publicly perform, sublicense, and distribute the Work and such Derivative Works in Source or Object form. + +3\. Grant of Patent License. + +Subject to the terms and conditions of this License, each Contributor hereby grants to You a perpetual, worldwide, non-exclusive, no-charge, royalty-free, irrevocable (except as stated in this section) patent license to make, have made, use, offer to sell, sell, import, and otherwise transfer the Work, where such license applies only to those patent claims licensable by such Contributor that are necessarily infringed by their Contribution(s) alone or by combination of their Contribution(s) with the Work to which such Contribution(s) was submitted. If You institute patent litigation against any entity (including a cross-claim or counterclaim in a lawsuit) alleging that the Work or a Contribution incorporated within the Work constitutes direct or contributory patent infringement, then any patent licenses granted to You under this License for that Work shall terminate as of the date such litigation is filed. + +4\. Redistribution. + +You may reproduce and distribute copies of the Work or Derivative Works thereof in any medium, with or without modifications, and in Source or Object form, provided that You meet the following conditions: + +You must give any other recipients of the Work or Derivative Works a copy of this License; and +You must cause any modified files to carry prominent notices stating that You changed the files; and +You must retain, in the Source form of any Derivative Works that You distribute, all copyright, patent, trademark, and attribution notices from the Source form of the Work, excluding those notices that do not pertain to any part of the Derivative Works; and +If the Work includes a "NOTICE" text file as part of its distribution, then any Derivative Works that You distribute must include a readable copy of the attribution notices contained within such NOTICE file, excluding those notices that do not pertain to any part of the Derivative Works, in at least one of the following places: within a NOTICE text file distributed as part of the Derivative Works; within the Source form or documentation, if provided along with the Derivative Works; or, within a display generated by the Derivative Works, if and wherever such third-party notices normally appear. The contents of the NOTICE file are for informational purposes only and do not modify the License. You may add Your own attribution notices within Derivative Works that You distribute, alongside or as an addendum to the NOTICE text from the Work, provided that such additional attribution notices cannot be construed as modifying the License. +You may add Your own copyright statement to Your modifications and may provide additional or different license terms and conditions for use, reproduction, or distribution of Your modifications, or for any such Derivative Works as a whole, provided Your use, reproduction, and distribution of the Work otherwise complies with the conditions stated in this License. + +5\. Submission of Contributions. + +Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. + +6\. Trademarks. + +This License does not grant permission to use the trade names, trademarks, service marks, or product names of the Licensor, except as required for reasonable and customary use in describing the origin of the Work and reproducing the content of the NOTICE file. + +7\. Disclaimer of Warranty. + +Unless required by applicable law or agreed to in writing, Licensor provides the Work (and each Contributor provides its Contributions) on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied, including, without limitation, any warranties or conditions of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A PARTICULAR PURPOSE. You are solely responsible for determining the appropriateness of using or redistributing the Work and assume any risks associated with Your exercise of permissions under this License. + +8\. Limitation of Liability. + +In no event and under no legal theory, whether in tort (including negligence), contract, or otherwise, unless required by applicable law (such as deliberate and grossly negligent acts) or agreed to in writing, shall any Contributor be liable to You for damages, including any direct, indirect, special, incidental, or consequential damages of any character arising as a result of this License or out of the use or inability to use the Work (including but not limited to damages for loss of goodwill, work stoppage, computer failure or malfunction, or any and all other commercial damages or losses), even if such Contributor has been advised of the possibility of such damages. + +9\. Accepting Warranty or Additional Liability. + +While redistributing the Work or Derivative Works thereof, You may choose to offer, and charge a fee for, acceptance of support, warranty, indemnity, or other liability obligations and/or rights consistent with this License. However, in accepting such obligations, You may act only on Your own behalf and on Your sole responsibility, not on behalf of any other Contributor, and only if You agree to indemnify, defend, and hold each Contributor harmless for any liability incurred by, or claims asserted against, such Contributor by reason of your accepting any such warranty or additional liability. + +END OF TERMS AND CONDITIONS + +BSD 3-clause License Third Party Programs +# **BSD 3-cluase License Third Party Programs** + +|Component|Home Page|License|copyright| +| :- | :- | :- | :- | +|xacro|

|BSD 3-clause|Copyright Robert Haschke, Bielefeld University| +|tf2\_ros\_py|

|BSD 3-clause|

Copyright (c) 2008, Willow Garage, Inc.

| +|tf2|

|BSD 3-clause|

Copyright (c) 2008, Willow Garage, Inc.

| +|tf2\_ros|

|BSD 3-clause|

Copyright (c) 2008, Willow Garage, Inc.

| +|

diagnostic\_updater

|

|BSD 3-clause|

Copyright 2008 - 2012, Willow Garage, Inc.

` `2012 - 2022, Open Source Robotics Foundation and contributors

| +## **BSD 3-clause** +Note: This license has also been called the “New BSD License” or “Modified BSD License”. See also the [2-clause BSD License](https://opensource.org/license/bsd-2-clause/). + +Copyright + +Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: + +1\. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. + +2\. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. + +3\. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + +# **Mozilla Public License 2.0 Third Party Programs** + +|Component|Home Page|License|copyright| +| :- | :- | :- | :- | +|Eigen|

|Mozilla Public License 2.0|None| +## **Mozilla Public License 2.0** + +Mozilla Public License + +Version 2.0 + +1\. Definitions + +1\.1. “Contributor” + + means each individual or legal entity that creates, contributes to the creation of, or owns Covered Software. + +1\.2. “Contributor Version” + + means the combination of the Contributions of others (if any) used by a Contributor and that particular Contributor’s Contribution. + +1\.3. “Contribution” + + means Covered Software of a particular Contributor. + +1\.4. “Covered Software” + + means Source Code Form to which the initial Contributor has attached the notice in Exhibit A, the Executable Form of such Source Code Form, and Modifications of such Source Code Form, in each case including portions thereof. + +1\.5. “Incompatible With Secondary Licenses” + + means + +` `that the initial Contributor has attached the notice described in Exhibit B to the Covered Software; or + +` `that the Covered Software was made available under the terms of version 1.1 or earlier of the License, but not also under the terms of a Secondary License. + +1\.6. “Executable Form” + + means any form of the work other than Source Code Form. + +1\.7. “Larger Work” + + means a work that combines Covered Software with other material, in a separate file or files, that is not Covered Software. + +1\.8. “License” + + means this document. + +1\.9. “Licensable” + + means having the right to grant, to the maximum extent possible, whether at the time of the initial grant or subsequently, any and all of the rights conveyed by this License. + +1\.10. “Modifications” + + means any of the following: + +` `any file in Source Code Form that results from an addition to, deletion from, or modification of the contents of Covered Software; or + +` `any new file in Source Code Form that contains any Covered Software. + +1\.11. “Patent Claims” of a Contributor + + means any patent claim(s), including without limitation, method, process, and apparatus claims, in any patent Licensable by such Contributor that would be infringed, but for the grant of the License, by the making, using, selling, offering for sale, having made, import, or transfer of either its Contributions or its Contributor Version. + +1\.12. “Secondary License” + + means either the GNU General Public License, Version 2.0, the GNU Lesser General Public License, Version 2.1, the GNU Affero General Public License, Version 3.0, or any later versions of those licenses. + +1\.13. “Source Code Form” + + means the form of the work preferred for making modifications. + +1\.14. “You” (or “Your”) + + means an individual or a legal entity exercising rights under this License. For legal entities, “You” includes any entity that controls, is controlled by, or is under common control with You. For purposes of this definition, “control” means (a) the power, direct or indirect, to cause the direction or management of such entity, whether by contract or otherwise, or (b) ownership of more than fifty percent (50%) of the outstanding shares or beneficial ownership of such entity. + +2\. License Grants and Conditions + +2\.1. Grants + +Each Contributor hereby grants You a world-wide, royalty-free, non-exclusive license: + + under intellectual property rights (other than patent or trademark) Licensable by such Contributor to use, reproduce, make available, modify, display, perform, distribute, and otherwise exploit its Contributions, either on an unmodified basis, with Modifications, or as part of a Larger Work; and + + under Patent Claims of such Contributor to make, use, sell, offer for sale, have made, import, and otherwise transfer either its Contributions or its Contributor Version. + +2\.2. Effective Date + +The licenses granted in Section 2.1 with respect to any Contribution become effective for each Contribution on the date the Contributor first distributes such Contribution. + +2\.3. Limitations on Grant Scope + +The licenses granted in this Section 2 are the only rights granted under this License. No additional rights or licenses will be implied from the distribution or licensing of Covered Software under this License. Notwithstanding Section 2.1(b) above, no patent license is granted by a Contributor: + + for any code that a Contributor has removed from Covered Software; or + + for infringements caused by: (i) Your and any other third party’s modifications of Covered Software, or (ii) the combination of its Contributions with other software (except as part of its Contributor Version); or + + under Patent Claims infringed by Covered Software in the absence of its Contributions. + +This License does not grant any rights in the trademarks, service marks, or logos of any Contributor (except as may be necessary to comply with the notice requirements in Section 3.4). + +2\.4. Subsequent Licenses + +No Contributor makes additional grants as a result of Your choice to distribute the Covered Software under a subsequent version of this License (see Section 10.2) or under the terms of a Secondary License (if permitted under the terms of Section 3.3). + +2\.5. Representation + +Each Contributor represents that the Contributor believes its Contributions are its original creation(s) or it has sufficient rights to grant the rights to its Contributions conveyed by this License. + +2\.6. Fair Use + +This License is not intended to limit any rights You have under applicable copyright doctrines of fair use, fair dealing, or other equivalents. + +2\.7. Conditions + +Sections 3.1, 3.2, 3.3, and 3.4 are conditions of the licenses granted in Section 2.1. + +3\. Responsibilities + +3\.1. Distribution of Source Form + +All distribution of Covered Software in Source Code Form, including any Modifications that You create or to which You contribute, must be under the terms of this License. You must inform recipients that the Source Code Form of the Covered Software is governed by the terms of this License, and how they can obtain a copy of this License. You may not attempt to alter or restrict the recipients’ rights in the Source Code Form. + +3\.2. Distribution of Executable Form + +If You distribute Covered Software in Executable Form then: + + such Covered Software must also be made available in Source Code Form, as described in Section 3.1, and You must inform recipients of the Executable Form how they can obtain a copy of such Source Code Form by reasonable means in a timely manner, at a charge no more than the cost of distribution to the recipient; and + + You may distribute such Executable Form under the terms of this License, or sublicense it under different terms, provided that the license for the Executable Form does not attempt to limit or alter the recipients’ rights in the Source Code Form under this License. + +3\.3. Distribution of a Larger Work + +You may create and distribute a Larger Work under terms of Your choice, provided that You also comply with the requirements of this License for the Covered Software. If the Larger Work is a combination of Covered Software with a work governed by one or more Secondary Licenses, and the Covered Software is not Incompatible With Secondary Licenses, this License permits You to additionally distribute such Covered Software under the terms of such Secondary License(s), so that the recipient of the Larger Work may, at their option, further distribute the Covered Software under the terms of either this License or such Secondary License(s). + +3\.4. Notices + +You may not remove or alter the substance of any license notices (including copyright notices, patent notices, disclaimers of warranty, or limitations of liability) contained within the Source Code Form of the Covered Software, except that You may alter any license notices to the extent required to remedy known factual inaccuracies. + +3\.5. Application of Additional Terms + +You may choose to offer, and to charge a fee for, warranty, support, indemnity or liability obligations to one or more recipients of Covered Software. However, You may do so only on Your own behalf, and not on behalf of any Contributor. You must make it absolutely clear that any such warranty, support, indemnity, or liability obligation is offered by You alone, and You hereby agree to indemnify every Contributor for any liability incurred by such Contributor as a result of warranty, support, indemnity or liability terms You offer. You may include additional disclaimers of warranty and limitations of liability specific to any jurisdiction. + +4\. Inability to Comply Due to Statute or Regulation + +If it is impossible for You to comply with any of the terms of this License with respect to some or all of the Covered Software due to statute, judicial order, or regulation then You must: (a) comply with the terms of this License to the maximum extent possible; and (b) describe the limitations and the code they affect. Such description must be placed in a text file included with all distributions of the Covered Software under this License. Except to the extent prohibited by statute or regulation, such description must be sufficiently detailed for a recipient of ordinary skill to be able to understand it. + +5\. Termination + +5\.1. The rights granted under this License will terminate automatically if You fail to comply with any of its terms. However, if You become compliant, then the rights granted under this License from a particular Contributor are reinstated (a) provisionally, unless and until such Contributor explicitly and finally terminates Your grants, and (b) on an ongoing basis, if such Contributor fails to notify You of the non-compliance by some reasonable means prior to 60 days after You have come back into compliance. Moreover, Your grants from a particular Contributor are reinstated on an ongoing basis if such Contributor notifies You of the non-compliance by some reasonable means, this is the first time You have received notice of non-compliance with this License from such Contributor, and You become compliant prior to 30 days after Your receipt of the notice. + +5\.2. If You initiate litigation against any entity by asserting a patent infringement claim (excluding declaratory judgment actions, counter-claims, and cross-claims) alleging that a Contributor Version directly or indirectly infringes any patent, then the rights granted to You by any and all Contributors for the Covered Software under Section 2.1 of this License shall terminate. + +5\.3. In the event of termination under Sections 5.1 or 5.2 above, all end user license agreements (excluding distributors and resellers) which have been validly granted by You or Your distributors under this License prior to termination shall survive termination. + +6\. Disclaimer of Warranty + +Covered Software is provided under this License on an “as is” basis, without warranty of any kind, either expressed, implied, or statutory, including, without limitation, warranties that the Covered Software is free of defects, merchantable, fit for a particular purpose or non-infringing. The entire risk as to the quality and performance of the Covered Software is with You. Should any Covered Software prove defective in any respect, You (not any Contributor) assume the cost of any necessary servicing, repair, or correction. This disclaimer of warranty constitutes an essential part of this License. No use of any Covered Software is authorized under this License except under this disclaimer. + +7\. Limitation of Liability + +Under no circumstances and under no legal theory, whether tort (including negligence), contract, or otherwise, shall any Contributor, or anyone who distributes Covered Software as permitted above, be liable to You for any direct, indirect, special, incidental, or consequential damages of any character including, without limitation, damages for lost profits, loss of goodwill, work stoppage, computer failure or malfunction, or any and all other commercial damages or losses, even if such party shall have been informed of the possibility of such damages. This limitation of liability shall not apply to liability for death or personal injury resulting from such party’s negligence to the extent applicable law prohibits such limitation. Some jurisdictions do not allow the exclusion or limitation of incidental or consequential damages, so this exclusion and limitation may not apply to You. + +8\. Litigation + +Any litigation relating to this License may be brought only in the courts of a jurisdiction where the defendant maintains its principal place of business and such litigation shall be governed by laws of that jurisdiction, without reference to its conflict-of-law provisions. Nothing in this Section shall prevent a party’s ability to bring cross-claims or counter-claims. + +9\. Miscellaneous + +This License represents the complete agreement concerning the subject matter hereof. If any provision of this License is held to be unenforceable, such provision shall be reformed only to the extent necessary to make it enforceable. Any law or regulation which provides that the language of a contract shall be construed against the drafter shall not be used to construe this License against a Contributor. + +10\. Versions of the License + +10\.1. New Versions + +Mozilla Foundation is the license steward. Except as provided in Section 10.3, no one other than the license steward has the right to modify or publish new versions of this License. Each version will be given a distinguishing version number. + +10\.2. Effect of New Versions + +You may distribute the Covered Software under the terms of the version of the License under which You originally received the Covered Software, or under the terms of any subsequent version published by the license steward. + +10\.3. Modified Versions + +If you create software not governed by this License, and you want to create a new license for such software, you may create and use a modified version of this License if you rename the license and remove any references to the name of the license steward (except to note that such modified license differs from this License). + +10\.4. Distributing Source Code Form that is Incompatible With Secondary Licenses + +If You choose to distribute Source Code Form that is Incompatible With Secondary Licenses under the terms of this version of the License, the notice described in Exhibit B of this License must be attached. + +Exhibit A - Source Code Form License Notice + + This Source Code Form is subject to the terms of the Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with this file, You can obtain one at https://mozilla.org/MPL/2.0/. + +If it is not possible or desirable to put the notice in a particular file, then You may include the notice in a location (such as a LICENSE file in a relevant directory) where a recipient would be likely to look for such a notice. + +You may add additional accurate notices of copyright ownership. + +Exhibit B - “Incompatible With Secondary Licenses” Notice + + This Source Code Form is “Incompatible With Secondary Licenses”, as defined by the Mozilla Public License, v. 2.0. + From 7041b875360fa73f9ce4c281f32d6d05aeb12039 Mon Sep 17 00:00:00 2001 From: SamerKhshiboun Date: Tue, 9 Apr 2024 09:35:27 +0300 Subject: [PATCH 09/11] add Intel Copyright --- Intel Copyright | 7 +++++++ 1 file changed, 7 insertions(+) create mode 100644 Intel Copyright diff --git a/Intel Copyright b/Intel Copyright new file mode 100644 index 0000000000..7cb7ff0ca4 --- /dev/null +++ b/Intel Copyright @@ -0,0 +1,7 @@ +Copyright (2017-2024), Intel Corporation. +This "Software" is furnished under license and may only be used or copied in accordance with the terms of that license. +No license, express or implied, by estoppel or otherwise, to any intellectual property rights is granted by this document. +The Software is subject to change without notice, and should not be construed as a commitment by Intel Corporation to market, license, sell or support any product or technology. +Unless otherwise provided for in the license under which this Software is provided, the Software is provided AS IS, with no warranties of any kind, express or implied. +Except as expressly permitted by the Software license, neither Intel Corporation nor its suppliers assumes any responsibility or liability for any errors or inaccuracies that may appear herein. +Except as expressly permitted by the Software license, no part of the Software may be reproduced, stored in a retrieval system, transmitted in any form, or distributed by any means without the express written consent of Intel Corporation. From 20ec87c47a415fb95a2f63b9308e57d974b06e3b Mon Sep 17 00:00:00 2001 From: Samer Khshiboun <99127997+SamerKhshiboun@users.noreply.github.com> Date: Wed, 17 Apr 2024 13:51:39 +0300 Subject: [PATCH 10/11] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 529ae1fbc0..1400b4fab6 100644 --- a/README.md +++ b/README.md @@ -4,7 +4,7 @@

- ROS2 packages for using Intel RealSense D400 cameras.
+ ROS Wrapper for Intel(R) RealSense(TM) Cameras
Latest release notes

From 2dac6177f3196f7dc9eb4d34cee76866b902b6c0 Mon Sep 17 00:00:00 2001 From: Arun-Prasad-V Date: Wed, 27 Mar 2024 17:48:58 +0530 Subject: [PATCH 11/11] Updated pr_check.sh script to not verify the year --- scripts/pr_check.sh | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/scripts/pr_check.sh b/scripts/pr_check.sh index 837be9f058..cea49c9bb5 100755 --- a/scripts/pr_check.sh +++ b/scripts/pr_check.sh @@ -1,6 +1,6 @@ #!/bin/bash -# Copyright 2023 Intel Corporation. All Rights Reserved. +# Copyright 2024 Intel Corporation. All Rights Reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. @@ -29,6 +29,8 @@ fixed=0 license_file=$PWD/../LICENSE +year_format="[[:digit:]][[:digit:]][[:digit:]][[:digit:]]" + function check_folder { for filename in $(find $1 -type f \( -iname \*.cpp -o -iname \*.h -o -iname \*.hpp -o -iname \*.js -o -iname \*.bat -o -iname \*.sh -o -iname \*.txt -o -iname \*.py \)); do @@ -43,7 +45,8 @@ function check_folder { if [[ ! $filename == *"usbhost"* ]]; then # Only check files that are not .gitignore-d if [[ $(git check-ignore $filename | wc -l) -eq 0 ]]; then - if [[ $(grep -oP "Copyright 2023 Intel Corporation. All Rights Reserved" $filename | wc -l) -eq 0 || + if [[ $(grep -oP "Copyright $year_format Intel Corporation. All Rights Reserved" $filename | wc -l) -eq 0 && + $(grep -oP "Copyright $year_format-$year_format Intel Corporation. All Rights Reserved" $filename | wc -l) -eq 0 || $(grep -oP "Licensed under the Apache License, Version 2.0" $filename | wc -l) -eq 0 ]]; then echo "[ERROR] $filename is missing the copyright/license notice"