Which variantof the BSD license does this project use?

[jiaxshi]

We get "BSD" in package.xml. There are multiple variants of the BSD license. Which specific one applies to our project? BSD-3-Clause?

[mikeferguson]

I can't speak to map_msgs - because I'm not really sure where that came from. The move_base_msgs came from the ros-planning/navigation repo originally, which was released by Willow Garage under a 3-clause BSD license (you can see that in nearly every header file in that repo - except for AMCL, which was released under LGPL since it predates the navigation stack)

[jiaxshi]

@mikeferguson Thanks for your info. We are using the msg package in meta-ros with yocto project. In latest yocto, it checks that the project uses a clear LICENSE rather than an ambiguours one.
Actually many ROS packages are in the same situation.

[mintar]

Adding a LICENSE file would help. Also, it's good practice to use a string from the SPDX License List in the package.xml, so instead of BSD use BSD-3-Clause. There's also more support for SPDX licenses in the package.xml specification (see this discussion).