diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
new file mode 100644
index 0000000..309be1e
--- /dev/null
+++ b/CONTRIBUTING.md
@@ -0,0 +1,3 @@
+Any contribution that you make to this repository will
+be under the 3-Clause BSD License, as dictated by that
+[license](https://opensource.org/licenses/BSD-3-Clause).
diff --git a/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py b/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py
index fb7cec1..73808c5 100644
--- a/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py
+++ b/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py
@@ -1,3 +1,32 @@
+# Copyright 2024 Nature Robots GmbH
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#
+#    * 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.
+#
+#    * Neither the name of the Nature Robots GmbH 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.
+
+
 import os
 
 from ament_index_python.packages import get_package_share_directory
diff --git a/mesh_navigation_tutorials/launch/mesh_navigation_tutorial_launch.py b/mesh_navigation_tutorials/launch/mesh_navigation_tutorial_launch.py
index 930a7ed..a2a6783 100644
--- a/mesh_navigation_tutorials/launch/mesh_navigation_tutorial_launch.py
+++ b/mesh_navigation_tutorials/launch/mesh_navigation_tutorial_launch.py
@@ -1,3 +1,32 @@
+# Copyright 2024 Nature Robots GmbH
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#
+#    * 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.
+#
+#    * Neither the name of the Nature Robots GmbH 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.
+
+
 import os
 
 from ament_index_python.packages import get_package_share_directory
diff --git a/mesh_navigation_tutorials/package.xml b/mesh_navigation_tutorials/package.xml
index 0d376ed..11f6b2d 100644
--- a/mesh_navigation_tutorials/package.xml
+++ b/mesh_navigation_tutorials/package.xml
@@ -24,9 +24,8 @@
   <exec_depend>tf2_ros</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
-  <!--<test_depend>ament_cmake_copyright</test_depend> TODO: add copyright headers -->
+  <test_depend>ament_cmake_copyright</test_depend>
   <test_depend>ament_cmake_cppcheck</test_depend>
-  <test_depend>ament_cmake_cpplint</test_depend>
   <test_depend>ament_cmake_flake8</test_depend>
   <test_depend>ament_cmake_pep257</test_depend>
   <test_depend>ament_cmake_uncrustify</test_depend>
diff --git a/mesh_navigation_tutorials_sim/launch/simulation_launch.py b/mesh_navigation_tutorials_sim/launch/simulation_launch.py
index 86f0d15..9a8bbd0 100644
--- a/mesh_navigation_tutorials_sim/launch/simulation_launch.py
+++ b/mesh_navigation_tutorials_sim/launch/simulation_launch.py
@@ -1,3 +1,32 @@
+# Copyright 2024 Nature Robots GmbH
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#
+#    * 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.
+#
+#    * Neither the name of the Nature Robots GmbH 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.
+
+
 import os
 
 from ament_index_python.packages import get_package_share_directory
diff --git a/mesh_navigation_tutorials_sim/package.xml b/mesh_navigation_tutorials_sim/package.xml
index 07ac3a5..56411fd 100644
--- a/mesh_navigation_tutorials_sim/package.xml
+++ b/mesh_navigation_tutorials_sim/package.xml
@@ -22,9 +22,8 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
-  <!--<test_depend>ament_cmake_copyright</test_depend> TODO: add copyright headers -->
+  <test_depend>ament_cmake_copyright</test_depend>
   <test_depend>ament_cmake_cppcheck</test_depend>
-  <test_depend>ament_cmake_cpplint</test_depend>
   <test_depend>ament_cmake_flake8</test_depend>
   <test_depend>ament_cmake_pep257</test_depend>
   <test_depend>ament_cmake_uncrustify</test_depend>
diff --git a/mesh_navigation_tutorials_sim/src/ground_truth_localization.cpp b/mesh_navigation_tutorials_sim/src/ground_truth_localization.cpp
index 996b4c1..2227ef8 100644
--- a/mesh_navigation_tutorials_sim/src/ground_truth_localization.cpp
+++ b/mesh_navigation_tutorials_sim/src/ground_truth_localization.cpp
@@ -1,3 +1,32 @@
+// Copyright 2024 Nature Robots GmbH
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * 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.
+//
+//    * Neither the name of the Nature Robots GmbH 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.
+
+
 #include <rclcpp/rclcpp.hpp>
 #include <Eigen/Dense>