Remove license violations

[kfunaoka]

Description

Remove license violations

For example, BSD requires:

* Redistributions of source code must retain the above copyright notice, 
  this list of conditions and the following disclaimer.

ToDo

• https://github.com/CPFL/Autoware/blob/develop/ros/src/computing/perception/localization/lib/ndt_cpu/src/NormalDistributionsTransform.cpp
  copied from https://github.com/PointCloudLibrary/pcl/blob/master/registration/include/pcl/registration/impl/ndt.hpp

[kfunaoka]

Anyway, copy/paste is a bad idea.
We should push modifications into upstream.

[ChenxiTU]

https://github.com/CPFL/Autoware/blob/develop/ros/src/util/packages/autoware_rviz_plugins/rosbag_controller/src/core/recorder.cpp
copied from
https://github.com/ros/ros_comm/blob/kinetic-devel/tools/rosbag/src/recorder.cpp

https://github.com/CPFL/Autoware/blob/develop/ros/src/util/packages/autoware_rviz_plugins/rosbag_controller/src/core/recorder.h
copied from
https://github.com/ros/ros_comm/blob/kinetic-devel/tools/rosbag/include/rosbag/recorder.h

Not 100% copy, I add some other functions to support rest codes. But sorry, I don not modify the licenses. Should I append Apache license before original BSD Licenses?

[kfunaoka]

@ChenxiTU Would you append Apache license before original BSD Licenses? Your contribution is Apache 2.0 👍

[esteve]

@ChenxiTU I agree with @kfunaoka that copying code from other sources is a bad idea. Can you describe in detail what the changes are and where they are? We should always be aiming to push contributions upstream, maintaining forks ourselves is just adding more work that can be spent elsewhere.

[esteve]

@ChenxiTU I just found autowarefoundation/autoware#1791 (comment) but there's no explanation why you found it hard to control recording from GUI difficult. In any case, you could have inherited from the original code or encapsulated it, instead of copy/pasting it.

[ChenxiTU]

@esteve The main change is that I added Recorder::stop() and Recorder::start to control the start and stop of recording. I also modify several lines for subscribing topics and add some parameters to control the status. I agree with you, inheriting from the original code can be a better choice. In the further, I will add play function. Let me rewrite recorder core at that time.

[esteve]

@ChenxiTU could you describe the changes in a more detailed way? I want to understand why the original code was difficult to integrate for your use case.

[ChenxiTU]

@esteve
Add variable recorder_status_ to track the statement of recording
Add variable recorder_error_; to record where and what type of error happened but not shut down the node directly. Some corresponding lines also be modified in like Recorder::checkDuration, Recorder::checkSize(), Recorder::startWriting() etc.
Add variable std::vector<boost::shared_ptr<ros::Subscriber> > subscribers_ to store all sub and make sure all sub will be shut down in Recorder::stop(). Because of this, add one line subscribers_.push_back(sub); in Recorder::subscribe. Without doing this, while recording second or third bags, plugin may crash.
Add method Recorder::start(), Recorder::stop()

[esteve]

@ChenxiTU thank you so much for the detailed explanation, I have a better idea of the changes now.