diff --git a/LICENSES/license_notice.cpp b/LICENSES/license_notice.cpp
index 9042e15..c45378b 100644
--- a/LICENSES/license_notice.cpp
+++ b/LICENSES/license_notice.cpp
@@ -1,20 +1,15 @@
-////////////////////////////////////////////////////////////////////////////////
-//
-// Copyright (C) 2024 SCHUNK SE & Co. KG
-//
-// This file is part of the Schunk EGU/EGK gripper.
-//
-// The Schunk EGU/EGK gripper is free software: you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or (at your
-// option) any later version.
-//
-// The Schunk EGU/EGK gripper is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
-// Public License for more details.
-//
+// Copyright 2024 SCHUNK SE & Co. KG
+//
+// This program is free software: you can redistribute it and/or modify it
+// under the terms of the GNU General Public License as published by the Free
+// Software Foundation, either version 3 of the License, or (at your option)
+// any later version.
+// 
+// This program is distributed in the hope that it will be useful, but WITHOUT
+// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+// FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+// more details.
+// 
 // You should have received a copy of the GNU General Public License along with
-// the Schunk EGU/EGK gripper. If not, see <https://www.gnu.org/licenses/>.
-//
-////////////////////////////////////////////////////////////////////////////////
+// this program. If not, see <https://www.gnu.org/licenses/>.
+// --------------------------------------------------------------------------------
diff --git a/LICENSES/license_notice.py b/LICENSES/license_notice.py
new file mode 100644
index 0000000..d9979f3
--- /dev/null
+++ b/LICENSES/license_notice.py
@@ -0,0 +1,15 @@
+# Copyright 2024 SCHUNK SE & Co. KG
+#
+# This program is free software: you can redistribute it and/or modify it
+# under the terms of the GNU General Public License as published by the Free
+# Software Foundation, either version 3 of the License, or (at your option)
+# any later version.
+# 
+# This program is distributed in the hope that it will be useful, but WITHOUT
+# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+# more details.
+# 
+# You should have received a copy of the GNU General Public License along with
+# this program. If not, see <https://www.gnu.org/licenses/>.
+# --------------------------------------------------------------------------------
diff --git a/schunk_egu_egk_gripper_driver/include/schunk_egu_egk_gripper_driver/schunk_gripper_wrapper.hpp b/schunk_egu_egk_gripper_driver/include/schunk_egu_egk_gripper_driver/schunk_gripper_wrapper.hpp
index 3233a43..9c957a2 100644
--- a/schunk_egu_egk_gripper_driver/include/schunk_egu_egk_gripper_driver/schunk_gripper_wrapper.hpp
+++ b/schunk_egu_egk_gripper_driver/include/schunk_egu_egk_gripper_driver/schunk_gripper_wrapper.hpp
@@ -1,23 +1,18 @@
-////////////////////////////////////////////////////////////////////////////////
-//
-// Copyright (C) 2024 SCHUNK SE & Co. KG
-//
-// This file is part of the Schunk EGU/EGK gripper.
-//
-// The Schunk EGU/EGK gripper is free software: you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or (at your
-// option) any later version.
-//
-// The Schunk EGU/EGK gripper is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
-// Public License for more details.
+// Copyright 2024 SCHUNK SE & Co. KG
 //
+// This program is free software: you can redistribute it and/or modify it
+// under the terms of the GNU General Public License as published by the Free
+// Software Foundation, either version 3 of the License, or (at your option)
+// any later version.
+// 
+// This program is distributed in the hope that it will be useful, but WITHOUT
+// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+// FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+// more details.
+// 
 // You should have received a copy of the GNU General Public License along with
-// the Schunk EGU/EGK gripper. If not, see <https://www.gnu.org/licenses/>.
-//
-////////////////////////////////////////////////////////////////////////////////
+// this program. If not, see <https://www.gnu.org/licenses/>.
+// --------------------------------------------------------------------------------
 
 /*
  * Author:        Viktoria Krimer (viktoria.krimer@de.schunk.com)
diff --git a/schunk_egu_egk_gripper_driver/launch/schunk_launch.py b/schunk_egu_egk_gripper_driver/launch/schunk_launch.py
index 98c9625..986dcb9 100644
--- a/schunk_egu_egk_gripper_driver/launch/schunk_launch.py
+++ b/schunk_egu_egk_gripper_driver/launch/schunk_launch.py
@@ -1,3 +1,19 @@
+# Copyright 2024 SCHUNK SE & Co. KG
+#
+# This program is free software: you can redistribute it and/or modify it
+# under the terms of the GNU General Public License as published by the Free
+# Software Foundation, either version 3 of the License, or (at your option)
+# any later version.
+# 
+# This program is distributed in the hope that it will be useful, but WITHOUT
+# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+# more details.
+# 
+# You should have received a copy of the GNU General Public License along with
+# this program. If not, see <https://www.gnu.org/licenses/>.
+# --------------------------------------------------------------------------------
+
 import launch
 from launch_ros.actions import LoadComposableNodes, Node
 from launch_ros.descriptions import ComposableNode
@@ -35,4 +51,4 @@ def generate_launch_description():
                     )
             ],
     )
-    return launch.LaunchDescription([container, load_composable_nodes])
\ No newline at end of file
+    return launch.LaunchDescription([container, load_composable_nodes])
diff --git a/schunk_egu_egk_gripper_driver/launch/schunk_rqt_launch.py b/schunk_egu_egk_gripper_driver/launch/schunk_rqt_launch.py
index ab4faca..f128877 100644
--- a/schunk_egu_egk_gripper_driver/launch/schunk_rqt_launch.py
+++ b/schunk_egu_egk_gripper_driver/launch/schunk_rqt_launch.py
@@ -1,3 +1,19 @@
+# Copyright 2024 SCHUNK SE & Co. KG
+#
+# This program is free software: you can redistribute it and/or modify it
+# under the terms of the GNU General Public License as published by the Free
+# Software Foundation, either version 3 of the License, or (at your option)
+# any later version.
+# 
+# This program is distributed in the hope that it will be useful, but WITHOUT
+# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+# more details.
+# 
+# You should have received a copy of the GNU General Public License along with
+# this program. If not, see <https://www.gnu.org/licenses/>.
+# --------------------------------------------------------------------------------
+
 import launch
 from launch_ros.actions import LoadComposableNodes, Node
 from launch_ros.descriptions import ComposableNode
@@ -40,4 +56,4 @@ def generate_launch_description():
             ],
     )
 
-    return launch.LaunchDescription([container, load_composable_nodes, rqt_launch])
\ No newline at end of file
+    return launch.LaunchDescription([container, load_composable_nodes, rqt_launch])
diff --git a/schunk_egu_egk_gripper_driver/package.xml b/schunk_egu_egk_gripper_driver/package.xml
index ede4740..bf2f4ae 100644
--- a/schunk_egu_egk_gripper_driver/package.xml
+++ b/schunk_egu_egk_gripper_driver/package.xml
@@ -23,6 +23,7 @@
 
   <exec_depend>ros2launch</exec_depend>
 
+  <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_cmake_copyright</test_depend>
 
   <export>
diff --git a/schunk_egu_egk_gripper_driver/src/schunk_gripper_wrapper.cpp b/schunk_egu_egk_gripper_driver/src/schunk_gripper_wrapper.cpp
index ed5a15f..9b51786 100644
--- a/schunk_egu_egk_gripper_driver/src/schunk_gripper_wrapper.cpp
+++ b/schunk_egu_egk_gripper_driver/src/schunk_gripper_wrapper.cpp
@@ -1,23 +1,18 @@
-////////////////////////////////////////////////////////////////////////////////
-//
-// Copyright (C) 2024 SCHUNK SE & Co. KG
-//
-// This file is part of the Schunk EGU/EGK gripper.
-//
-// The Schunk EGU/EGK gripper is free software: you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or (at your
-// option) any later version.
-//
-// The Schunk EGU/EGK gripper is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
-// Public License for more details.
+// Copyright 2024 SCHUNK SE & Co. KG
 //
+// This program is free software: you can redistribute it and/or modify it
+// under the terms of the GNU General Public License as published by the Free
+// Software Foundation, either version 3 of the License, or (at your option)
+// any later version.
+// 
+// This program is distributed in the hope that it will be useful, but WITHOUT
+// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+// FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+// more details.
+// 
 // You should have received a copy of the GNU General Public License along with
-// the Schunk EGU/EGK gripper. If not, see <https://www.gnu.org/licenses/>.
-//
-////////////////////////////////////////////////////////////////////////////////
+// this program. If not, see <https://www.gnu.org/licenses/>.
+// --------------------------------------------------------------------------------
 
 /*
  * Author:        Viktoria Krimer (viktoria.krimer@de.schunk.com)
diff --git a/schunk_egu_egk_gripper_examples/package.xml b/schunk_egu_egk_gripper_examples/package.xml
index ac0f6e0..411fed3 100644
--- a/schunk_egu_egk_gripper_examples/package.xml
+++ b/schunk_egu_egk_gripper_examples/package.xml
@@ -19,6 +19,7 @@
   <depend>control_msgs</depend>
   <depend>sensor_msgs</depend>
 
+  <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_cmake_copyright</test_depend>
 
   <export>
diff --git a/schunk_egu_egk_gripper_examples/src/gripper_example.cpp b/schunk_egu_egk_gripper_examples/src/gripper_example.cpp
index 8fa96c3..a51e817 100644
--- a/schunk_egu_egk_gripper_examples/src/gripper_example.cpp
+++ b/schunk_egu_egk_gripper_examples/src/gripper_example.cpp
@@ -1,23 +1,18 @@
-////////////////////////////////////////////////////////////////////////////////
-//
-// Copyright (C) 2024 SCHUNK SE & Co. KG
-//
-// This file is part of the Schunk EGU/EGK gripper.
-//
-// The Schunk EGU/EGK gripper is free software: you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or (at your
-// option) any later version.
-//
-// The Schunk EGU/EGK gripper is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
-// Public License for more details.
+// Copyright 2024 SCHUNK SE & Co. KG
 //
+// This program is free software: you can redistribute it and/or modify it
+// under the terms of the GNU General Public License as published by the Free
+// Software Foundation, either version 3 of the License, or (at your option)
+// any later version.
+// 
+// This program is distributed in the hope that it will be useful, but WITHOUT
+// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+// FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+// more details.
+// 
 // You should have received a copy of the GNU General Public License along with
-// the Schunk EGU/EGK gripper. If not, see <https://www.gnu.org/licenses/>.
-//
-////////////////////////////////////////////////////////////////////////////////
+// this program. If not, see <https://www.gnu.org/licenses/>.
+// --------------------------------------------------------------------------------
 
 /*
  * Author:        Viktoria Krimer (viktoria.krimer@de.schunk.com)
diff --git a/schunk_egu_egk_gripper_interfaces/package.xml b/schunk_egu_egk_gripper_interfaces/package.xml
index 73700f9..e9014f1 100644
--- a/schunk_egu_egk_gripper_interfaces/package.xml
+++ b/schunk_egu_egk_gripper_interfaces/package.xml
@@ -18,6 +18,7 @@
   <depend>sensor_msgs</depend>
   <depend>diagnostic_msgs</depend>
 
+  <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_cmake_copyright</test_depend>
 
   <member_of_group>rosidl_interface_packages</member_of_group>
diff --git a/schunk_egu_egk_gripper_library/CMakeLists.txt b/schunk_egu_egk_gripper_library/CMakeLists.txt
index 2bbd3fb..e343232 100644
--- a/schunk_egu_egk_gripper_library/CMakeLists.txt
+++ b/schunk_egu_egk_gripper_library/CMakeLists.txt
@@ -86,7 +86,3 @@ install(
 # Test
 #--------------------------------------------------------------------------------
 enable_testing()
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-endif()
-
diff --git a/schunk_egu_egk_gripper_library/include/schunk_egu_egk_gripper_library/communication.hpp b/schunk_egu_egk_gripper_library/include/schunk_egu_egk_gripper_library/communication.hpp
index 774ebe5..08e93fd 100644
--- a/schunk_egu_egk_gripper_library/include/schunk_egu_egk_gripper_library/communication.hpp
+++ b/schunk_egu_egk_gripper_library/include/schunk_egu_egk_gripper_library/communication.hpp
@@ -1,23 +1,18 @@
-////////////////////////////////////////////////////////////////////////////////
-//
-// Copyright (C) 2024 SCHUNK SE & Co. KG
-//
-// This file is part of the Schunk EGU/EGK gripper.
-//
-// The Schunk EGU/EGK gripper is free software: you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or (at your
-// option) any later version.
-//
-// The Schunk EGU/EGK gripper is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
-// Public License for more details.
+// Copyright 2024 SCHUNK SE & Co. KG
 //
+// This program is free software: you can redistribute it and/or modify it
+// under the terms of the GNU General Public License as published by the Free
+// Software Foundation, either version 3 of the License, or (at your option)
+// any later version.
+// 
+// This program is distributed in the hope that it will be useful, but WITHOUT
+// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+// FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+// more details.
+// 
 // You should have received a copy of the GNU General Public License along with
-// the Schunk EGU/EGK gripper. If not, see <https://www.gnu.org/licenses/>.
-//
-////////////////////////////////////////////////////////////////////////////////
+// this program. If not, see <https://www.gnu.org/licenses/>.
+// --------------------------------------------------------------------------------
 
 /*
  * Author:        Viktoria Krimer (viktoria.krimer@de.schunk.com)
diff --git a/schunk_egu_egk_gripper_library/include/schunk_egu_egk_gripper_library/schunk_gripper_lib.hpp b/schunk_egu_egk_gripper_library/include/schunk_egu_egk_gripper_library/schunk_gripper_lib.hpp
index 5e5ee48..4a50f26 100644
--- a/schunk_egu_egk_gripper_library/include/schunk_egu_egk_gripper_library/schunk_gripper_lib.hpp
+++ b/schunk_egu_egk_gripper_library/include/schunk_egu_egk_gripper_library/schunk_gripper_lib.hpp
@@ -1,23 +1,18 @@
-////////////////////////////////////////////////////////////////////////////////
-//
-// Copyright (C) 2024 SCHUNK SE & Co. KG
-//
-// This file is part of the Schunk EGU/EGK gripper.
-//
-// The Schunk EGU/EGK gripper is free software: you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or (at your
-// option) any later version.
-//
-// The Schunk EGU/EGK gripper is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
-// Public License for more details.
+// Copyright 2024 SCHUNK SE & Co. KG
 //
+// This program is free software: you can redistribute it and/or modify it
+// under the terms of the GNU General Public License as published by the Free
+// Software Foundation, either version 3 of the License, or (at your option)
+// any later version.
+// 
+// This program is distributed in the hope that it will be useful, but WITHOUT
+// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+// FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+// more details.
+// 
 // You should have received a copy of the GNU General Public License along with
-// the Schunk EGU/EGK gripper. If not, see <https://www.gnu.org/licenses/>.
-//
-////////////////////////////////////////////////////////////////////////////////
+// this program. If not, see <https://www.gnu.org/licenses/>.
+// --------------------------------------------------------------------------------
 
 /*
  * Author:        Viktoria Krimer (viktoria.krimer@de.schunk.com)
diff --git a/schunk_egu_egk_gripper_library/src/communication.cpp b/schunk_egu_egk_gripper_library/src/communication.cpp
index 31765bd..c53b1dd 100644
--- a/schunk_egu_egk_gripper_library/src/communication.cpp
+++ b/schunk_egu_egk_gripper_library/src/communication.cpp
@@ -1,23 +1,18 @@
-////////////////////////////////////////////////////////////////////////////////
-//
-// Copyright (C) 2024 SCHUNK SE & Co. KG
-//
-// This file is part of the Schunk EGU/EGK gripper.
-//
-// The Schunk EGU/EGK gripper is free software: you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or (at your
-// option) any later version.
-//
-// The Schunk EGU/EGK gripper is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
-// Public License for more details.
+// Copyright 2024 SCHUNK SE & Co. KG
 //
+// This program is free software: you can redistribute it and/or modify it
+// under the terms of the GNU General Public License as published by the Free
+// Software Foundation, either version 3 of the License, or (at your option)
+// any later version.
+// 
+// This program is distributed in the hope that it will be useful, but WITHOUT
+// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+// FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+// more details.
+// 
 // You should have received a copy of the GNU General Public License along with
-// the Schunk EGU/EGK gripper. If not, see <https://www.gnu.org/licenses/>.
-//
-////////////////////////////////////////////////////////////////////////////////
+// this program. If not, see <https://www.gnu.org/licenses/>.
+// --------------------------------------------------------------------------------
 
 /*
  * Author:        Viktoria Krimer (viktoria.krimer@de.schunk.com)
diff --git a/schunk_egu_egk_gripper_library/src/schunk_gripper_lib.cpp b/schunk_egu_egk_gripper_library/src/schunk_gripper_lib.cpp
index 2fff1be..0386848 100644
--- a/schunk_egu_egk_gripper_library/src/schunk_gripper_lib.cpp
+++ b/schunk_egu_egk_gripper_library/src/schunk_gripper_lib.cpp
@@ -1,23 +1,18 @@
-////////////////////////////////////////////////////////////////////////////////
-//
-// Copyright (C) 2024 SCHUNK SE & Co. KG
-//
-// This file is part of the Schunk EGU/EGK gripper.
-//
-// The Schunk EGU/EGK gripper is free software: you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or (at your
-// option) any later version.
-//
-// The Schunk EGU/EGK gripper is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
-// Public License for more details.
+// Copyright 2024 SCHUNK SE & Co. KG
 //
+// This program is free software: you can redistribute it and/or modify it
+// under the terms of the GNU General Public License as published by the Free
+// Software Foundation, either version 3 of the License, or (at your option)
+// any later version.
+// 
+// This program is distributed in the hope that it will be useful, but WITHOUT
+// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+// FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+// more details.
+// 
 // You should have received a copy of the GNU General Public License along with
-// the Schunk EGU/EGK gripper. If not, see <https://www.gnu.org/licenses/>.
-//
-////////////////////////////////////////////////////////////////////////////////
+// this program. If not, see <https://www.gnu.org/licenses/>.
+// --------------------------------------------------------------------------------
 
 /*
  * Author:        Viktoria Krimer (viktoria.krimer@de.schunk.com)