diff --git a/include/control_toolbox/dither.hpp b/include/control_toolbox/dither.hpp
index acf34efa..ab9a2cae 100644
--- a/include/control_toolbox/dither.hpp
+++ b/include/control_toolbox/dither.hpp
@@ -1,7 +1,7 @@
 // Copyright (c) 2009, Willow Garage, Inc.
 // All rights reserved.
 //
-// Software License Agreement (BSD License)
+// Software License Agreement (BSD License 2.0)
 //
 // Redistribution and use in source and binary forms, with or without
 // modification, are permitted provided that the following conditions
diff --git a/include/control_toolbox/filters.hpp b/include/control_toolbox/filters.hpp
index dd12e65f..9ec8dc5a 100644
--- a/include/control_toolbox/filters.hpp
+++ b/include/control_toolbox/filters.hpp
@@ -1,7 +1,7 @@
 // Copyright (c) 2008, Willow Garage, Inc.
 // All rights reserved.
 //
-// Software License Agreement (BSD License)
+// Software License Agreement (BSD License 2.0)
 //
 // Redistribution and use in source and binary forms, with or without
 // modification, are permitted provided that the following conditions
diff --git a/include/control_toolbox/limited_proxy.hpp b/include/control_toolbox/limited_proxy.hpp
index 8dc0a645..58dfb0eb 100644
--- a/include/control_toolbox/limited_proxy.hpp
+++ b/include/control_toolbox/limited_proxy.hpp
@@ -1,7 +1,7 @@
 // Copyright (c) 2008, Willow Garage, Inc.
 // All rights reserved.
 //
-// Software License Agreement (BSD License)
+// Software License Agreement (BSD License 2.0)
 //
 // Redistribution and use in source and binary forms, with or without
 // modification, are permitted provided that the following conditions
diff --git a/include/control_toolbox/pid.hpp b/include/control_toolbox/pid.hpp
index 999e34d7..b536e4da 100644
--- a/include/control_toolbox/pid.hpp
+++ b/include/control_toolbox/pid.hpp
@@ -1,7 +1,7 @@
 // Copyright (c) 2008, Willow Garage, Inc.
 // All rights reserved.
 //
-// Software License Agreement (BSD License)
+// Software License Agreement (BSD License 2.0)
 //
 // Redistribution and use in source and binary forms, with or without
 // modification, are permitted provided that the following conditions
diff --git a/include/control_toolbox/pid_ros.hpp b/include/control_toolbox/pid_ros.hpp
index 27ed78cc..7768e939 100644
--- a/include/control_toolbox/pid_ros.hpp
+++ b/include/control_toolbox/pid_ros.hpp
@@ -1,7 +1,7 @@
 // Copyright (c) 2020, Open Source Robotics Foundation, Inc.
 // All rights reserved.
 //
-// Software License Agreement (BSD License)
+// Software License Agreement (BSD License 2.0)
 //
 // Redistribution and use in source and binary forms, with or without
 // modification, are permitted provided that the following conditions
diff --git a/include/control_toolbox/sine_sweep.hpp b/include/control_toolbox/sine_sweep.hpp
index ec285cd9..dd3e6386 100644
--- a/include/control_toolbox/sine_sweep.hpp
+++ b/include/control_toolbox/sine_sweep.hpp
@@ -1,7 +1,7 @@
 // Copyright (c) 2008, Willow Garage, Inc.
 // All rights reserved.
 //
-// Software License Agreement (BSD License)
+// Software License Agreement (BSD License 2.0)
 //
 // Redistribution and use in source and binary forms, with or without
 // modification, are permitted provided that the following conditions
diff --git a/include/control_toolbox/sinusoid.hpp b/include/control_toolbox/sinusoid.hpp
index 6d5a280a..b8e921cf 100644
--- a/include/control_toolbox/sinusoid.hpp
+++ b/include/control_toolbox/sinusoid.hpp
@@ -1,7 +1,7 @@
 // Copyright (c) 2009, Willow Garage, Inc.
 // All rights reserved.
 //
-// Software License Agreement (BSD License)
+// Software License Agreement (BSD License 2.0)
 //
 // Redistribution and use in source and binary forms, with or without
 // modification, are permitted provided that the following conditions
diff --git a/include/control_toolbox/visibility_control.hpp b/include/control_toolbox/visibility_control.hpp
index 1e5c98d7..fd0b3b97 100644
--- a/include/control_toolbox/visibility_control.hpp
+++ b/include/control_toolbox/visibility_control.hpp
@@ -1,7 +1,7 @@
 // Copyright (c) 2009, Willow Garage, Inc.
 // All rights reserved.
 //
-// Software License Agreement (BSD License)
+// Software License Agreement (BSD License 2.0)
 //
 // Redistribution and use in source and binary forms, with or without
 // modification, are permitted provided that the following conditions
diff --git a/src/dither.cpp b/src/dither.cpp
index 88cd7e87..0292dc58 100644
--- a/src/dither.cpp
+++ b/src/dither.cpp
@@ -1,7 +1,7 @@
 // Copyright (c) 2009, Willow Garage, Inc.
 // All rights reserved.
 //
-// Software License Agreement (BSD License)
+// Software License Agreement (BSD License 2.0)
 //
 // Redistribution and use in source and binary forms, with or without
 // modification, are permitted provided that the following conditions
diff --git a/src/limited_proxy.cpp b/src/limited_proxy.cpp
index 4b90b484..ecb11fa4 100644
--- a/src/limited_proxy.cpp
+++ b/src/limited_proxy.cpp
@@ -1,7 +1,7 @@
 // Copyright (c) 2008, Willow Garage, Inc.
 // All rights reserved.
 //
-// Software License Agreement (BSD License)
+// Software License Agreement (BSD License 2.0)
 //
 // Redistribution and use in source and binary forms, with or without
 // modification, are permitted provided that the following conditions
diff --git a/src/pid.cpp b/src/pid.cpp
index 2f1016bc..9e1ce4ce 100644
--- a/src/pid.cpp
+++ b/src/pid.cpp
@@ -1,7 +1,7 @@
 // Copyright (c) 2008, Willow Garage, Inc.
 // All rights reserved.
 //
-// Software License Agreement (BSD License)
+// Software License Agreement (BSD License 2.0)
 //
 // Redistribution and use in source and binary forms, with or without
 // modification, are permitted provided that the following conditions
diff --git a/src/pid_ros.cpp b/src/pid_ros.cpp
index dc7581db..e7583902 100644
--- a/src/pid_ros.cpp
+++ b/src/pid_ros.cpp
@@ -1,7 +1,7 @@
 // Copyright (c) 2020, Open Source Robotics Foundation, Inc.
 // All rights reserved.
 //
-// Software License Agreement (BSD License)
+// Software License Agreement (BSD License 2.0)
 //
 // Redistribution and use in source and binary forms, with or without
 // modification, are permitted provided that the following conditions
diff --git a/src/sine_sweep.cpp b/src/sine_sweep.cpp
index 2a0c3a6c..f606907a 100644
--- a/src/sine_sweep.cpp
+++ b/src/sine_sweep.cpp
@@ -1,7 +1,7 @@
 // Copyright (c) 2008, Willow Garage, Inc.
 // All rights reserved.
 //
-// Software License Agreement (BSD License)
+// Software License Agreement (BSD License 2.0)
 //
 // Redistribution and use in source and binary forms, with or without
 // modification, are permitted provided that the following conditions
diff --git a/src/sinusoid.cpp b/src/sinusoid.cpp
index 5be52e8b..cb3a99f9 100644
--- a/src/sinusoid.cpp
+++ b/src/sinusoid.cpp
@@ -1,7 +1,7 @@
 // Copyright (c) 2009, Willow Garage, Inc.
 // All rights reserved.
 //
-// Software License Agreement (BSD License)
+// Software License Agreement (BSD License 2.0)
 //
 // Redistribution and use in source and binary forms, with or without
 // modification, are permitted provided that the following conditions
diff --git a/test/pid_tests.cpp b/test/pid_tests.cpp
index 28fae247..8a07d83f 100644
--- a/test/pid_tests.cpp
+++ b/test/pid_tests.cpp
@@ -1,7 +1,7 @@
 // Copyright (c) 2008, Willow Garage, Inc.
 // All rights reserved.
 //
-// Software License Agreement (BSD License)
+// Software License Agreement (BSD License 2.0)
 //
 // Redistribution and use in source and binary forms, with or without
 // modification, are permitted provided that the following conditions