CyberDog (ROS 2) is released under Apache 2.0 license.

Copyright (c) 2021 Beijing Xiaomi Mobile Software Co., Ltd. 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. 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.

The project maintains the following source code repositories:

• CybereDog Main. (cyberdog_ros2)
• Localization, Navigation, Tracking. (athena_automation)
• Android APP (Closed Source)

alsa-lib (v1.1.3)

• License: LGPL-2.1
• Project: https://github.com/alsa-project/alsa-lib
• Source: https://github.com/alsa-project/alsa-lib/releases/tag/v1.1.3
• Usage: as-is, dynamic-linking

bluepy (v1.3.0)

• License: public-domain
• Project: https://github.com/IanHarvey/bluepy
• Source: https://github.com/IanHarvey/bluepy/releases/tag/v%2F1.3.0
• Usage: as-is, dynamic-linking

cascade_lifecycle (1.0.0)

• License: Apache-2.0
• Project: https://github.com/fmrico/cascade_lifecycle
• Source: https://github.com/fmrico/cascade_lifecycle/releases/tag/1.0.0
• Usage: modified, dynamic-linking

Cheetah-Software (master)

• License: MIT
• Project: https://github.com/mit-biomimetics/Cheetah-Software
• Source: https://github.com/mit-biomimetics/Cheetah-Software/tree/master
• Usage: modified, standalone

commons-codec(1.15)

• License: Apache-2.0
• Project: https://github.com/apache/commons-codec
• Source: https://github.com/apache/commons-codec/releases/tag/rel%2Fcommons-codec-1.15
• Usage: as-is, static-linking

commons-compress (1.21)

• License: Apache-2.0
• Project: https://github.com/apache/commons-compress
• Source: https://github.com/apache/commons-compress/releases/tag/rel%2F1.21
• Usage: as-is, static-linking

commons-lang(3.11)

• License: Apache-2.0
• Project: https://github.com/apache/commons-lang
• Source: https://github.com/apache/commons-lang/releases/tag/rel%2Fcommons-lang-3.11
• Usage: as-is, static-linking

costmap_converter (ros2)

• License: BSD-3-Clause
• Project: https://github.com/rst-tu-dortmund/costmap_converter
• Source: https://github.com/rst-tu-dortmund/costmap_converter/tree/ros2
• Usage: modified, dynamic-linking

curl (7.75.0)

• License: MIT
• Project: https://github.com/curl/curl
• Source: https://github.com/curl/curl/releases/tag/curl-7_75_0
• Usage: as-is, static-linking

easypermissions (3.0.0)

• License: Apache-2.0
• Project: https://github.com/googlesamples/easypermissions
• Source: https://github.com/googlesamples/easypermissions/releases/tag/3.0.0
• Usage: as-is, static-linking

Eigen (3.4.0)

• License: MPL-2
• Project: https://gitlab.com/libeigen/eigen
• Source: https://gitlab.com/libeigen/eigen/-/tags/3.4.0
• Usage: as-is, dynamic-linking

ffmpeg (4.3.2)

• License: LGPL-2.1
• Project: https://git.ffmpeg.org/ffmpeg.git
• Source: http://ffmpeg.org/releases/ffmpeg-4.3.2.tar.xz
• Usage: as-is, dynamic-linking

glide (v4.12.0)

• License: BSD-2-Clause, part MIT and Apache-2.0
• Project: https://github.com/bumptech/glide
• Source: https://github.com/bumptech/glide/releases/tag/v4.12.0
• Usage: as-is, static-linking

grpc (v1.36.3)

• License: Apache-2.0
• Project: https://github.com/grpc
• Source: https://github.com/grpc/grpc/releases/tag/v1.36.3
• Usage: as-is, dynamic-linking

grpc-java (v1.38.0)

• License: Apache-2.0
• Project: https://github.com/grpc/grpc-java
• Source: https://github.com/grpc/grpc-java/releases/tag/v1.38.0
• Usage: as-is, static-linking

g2o (20201223_git)

• License: BSD-2-Clause
• Project: https://github.com/RainerKuemmerle/g2o
• Source: https://github.com/RainerKuemmerle/g2o/releases/tag/20201223_git
• Usage: as-is, dynamic-linking

gson (parent-2.86)

• License: Apache-2.0
• Project: https://github.com/google/gson
• Source: https://github.com/google/gson/releases/tag/gson-parent-2.8.6
• Usage: as-is, static-linking

ijkplayer (k0.8.8)

• License: LGPL-2.1
• Project: https://github.com/bilibili/ijkplayer
• Source: https://github.com/bilibili/ijkplayer/releases/tag/k0.8.8
• Usage: as-is, static-linking

jsoncpp (1.8.1)

• License: MIT
• Project: https://github.com/open-source-parsers/jsoncpp
• Source: https://github.com/open-source-parsers/jsoncpp/releases/tag/1.8.1
• Usage: as-is, static-linking

librealsense (2.48.0)

• License: Apache-2.0
• Project: https://github.com/IntelRealSense/librealsense
• Source: https://github.com/IntelRealSense/librealsense/releases/tag/v2.48.0
• Usage: as-is, dynamic-linking

Lightweight Communications and Marshalling(LCM) (v1.4.0)

• License: LGPL-2.1
• Project: https://github.com/lcm-proj/lcm
• Source: https://github.com/lcm-proj/lcm/releases/tag/v1.4.0
• Usage: as-is, static-linking

mpg123 (1.25.10)

• License: LGPL-2.0
• Project: http://mpg123.org/cgi-bin/scm/mpg123
• Source: https://sourceforge.net/projects/mpg123/files/mpg123/1.25.10/
• Usage: as-is, dynamic-linking

navigation2 (1.0.0)

• License: LGPL-2.1/BSD-3-Clause/Apache-2.0
• Project: https://github.com/ros-planning/navigation2
• Source: https://github.com/ros-planning/navigation2/releases/tag/1.0.0
• Usage: modified, dynamic-linking

nginx (1.18.0)

• License: BSD-2-Clause
• Project: https://nginx.org/
• Source: http://nginx.org/download/nginx-1.18.0.tar.gz
• Usage: as-is, standalone

okhttp (parent-4.9.0)

• License: Apache-2.0
• Project: https://github.com/square/okhttp
• Source: https://github.com/square/okhttp/releases/tag/parent-4.9.0
• Usage: as-is, static-linking

OpenCV (4.2.0)

• License: Apache-2.0
• Project: https://github.com/opencv/opencv
• Source: https://github.com/opencv/opencv/releases/tag/4.2.0
• Usage: as-is, dynamic-linking

open_vins (2.3)

• License: GPL-3
• Project: https://github.com/rpng/open_vins
• Source: https://github.com/rpng/open_vins/releases/tag/v2.3
• Usage: modified, standalone

opensssl (1.1.1k)

• License: Apache-2.0
• Project: https://github.com/openssl/openssl
• Source: https://github.com/openssl/openssl/releases/tag/OpenSSL_1_1_1k
• Usage: as-is, static-linking

retrofit2 (parent-2.2.0)

• License: Apache-2.0
• Project: https://github.com/square/retrofit
• Source: https://github.com/square/retrofit/releases/tag/parent-2.2.0
• Usage: as-is, static-linking

ROS 2 (Foxy Fitzroy)

• License: Apache-2.0
• Project: https://github.com/ros2/ros2
• Source: https://github.com/ros2/ros2/releases/tag/release-foxy-20201211
• Usage: as-is, dynamic-linking

ros2_socketcan (1.0.0)

• License: Apache-2.0
• Project: https://github.com/autowarefoundation/ros2_socketcan
• Source: https://github.com/autowarefoundation/ros2_socketcan/releases/tag/1.0.0
• Usage: modified, dynamic-linking

realsense-ros (3.2.2)

• License: Apache-2.0
• Project: https://github.com/IntelRealSense/realsense-ros
• Source: https://github.com/IntelRealSense/realsense-ros/releases/tag/3.2.2
• Usage: modified, standalone

rtabmap (0.20.7)

• License: BSD-3-Clause
• Project: https://github.com/introlab/rtabmap
• Source: https://github.com/introlab/rtabmap/releases/tag/0.20.7
• Usage: modified, dynamic-linking

rtabmap_ros (0.20.7)

• License: BSD-3-Clause
• Project: https://github.com/introlab/rtabmap_ros
• Source: https://github.com/introlab/rtabmap_ros/releases/tag/0.20.7
• Usage: modified, dynamic-linking

rxjava2 (2.2.21)

• License: Apache-2.0
• Project: https://github.com/square/retrofit
• Source: https://github.com/ReactiveX/RxJava/releases/tag/v2.2.21
• Usage: as-is, static-linking

servo_joint_motor (master)

• License: MIT
• Project: https://github.com/bgkatz/motorcontrol
• Source: https://github.com/bgkatz/motorcontrol/tree/master
• Usage: modified, standalone

Simple DirectMedia Layer library 2(SDL2) (2.0.14)

• License: zlib
• Project: https://github.com/libsdl-org/SDL
• Source: https://github.com/libsdl-org/SDL/releases/tag/release-2.0.14
• Usage: as-is, dynamic-linking

SDL2_mixer (2.0.4)

• License: zlib
• Project: https://github.com/libsdl-org/SDL_mixer
• Source: https://github.com/libsdl-org/SDL_mixer/releases/tag/release-2.0.4
• Usage: as-is, dynamic-linking

teb_local_planner (ros2)

• License: BSD-3-Clause
• Project: https://github.com/rst-tu-dortmund/teb_local_planner
• Source: https://github.com/rst-tu-dortmund/teb_local_planner/tree/ros2-master
• Usage: modified, dynamic-linking

toml11 (v3.7)

• License: MIT
• Project: https://github.com/ToruNiina/toml11
• Source: https://github.com/ToruNiina/toml11/releases/tag/v3.7.0
• Usage: as-is, static-linking

yaml-cpp (0.6.3)

• License: MIT
• Project: https://github.com/jbeder/yaml-cpp
• Source: https://github.com/jbeder/yaml-cpp/releases/tag/yaml-cpp-0.6.3
• Usage: as-is, dynamic-linking