diff --git a/NOTICE b/NOTICE
new file mode 100644
index 00000000..bb25fc34
--- /dev/null
+++ b/NOTICE
@@ -0,0 +1,35 @@
+abb_ros2
+Copyright (c) 2022 PickNik Inc.
+
+This product includes software developed by third parties, listed below with
+the license under which each is distributed. See LICENSE for the Apache License
+2.0 text, and the headers of individual source files for the notice that
+applies to them.
+
+--------------------------------------------------------------------------------
+ABB Schweiz AG
+Copyright (c) 2020, ABB Schweiz AG
+Licensed under BSD-3-Clause.
+Covers the ABB robot interface utilities in abb_hardware_interface (for example
+abb_hardware_interface/src/utilities.cpp), which is why that package declares
+both Apache-2.0 and BSD-3-Clause in its package.xml.
+
+--------------------------------------------------------------------------------
+ROS 2 Control Development Team
+Copyright 2020 ROS2-Control Development Team
+Licensed under the Apache License, Version 2.0.
+Covers the hardware interface implementation in abb_hardware_interface, modified
+by PickNik Inc. in 2022.
+
+--------------------------------------------------------------------------------
+Open Source Robotics Foundation, Inc.
+Copyright 2017 Open Source Robotics Foundation, Inc.
+Licensed under the Apache License, Version 2.0.
+
+--------------------------------------------------------------------------------
+ROS-Industrial
+Licensed under BSD-3-Clause.
+Covers robot_specific_config/abb_irb1200_5_90_moveit_config, an automatically
+generated MoveIt configuration authored by Andrew Short and maintained by Levi
+Armstrong (Southwest Research Institute). This package is BSD-3-Clause rather
+than Apache-2.0, and its package.xml declares that deliberately.
diff --git a/abb_bringup/package.xml b/abb_bringup/package.xml
index c5a4d122..bf3aa4d7 100644
--- a/abb_bringup/package.xml
+++ b/abb_bringup/package.xml
@@ -10,7 +10,7 @@
   <maintainer email="zelenak@picknik.ai">Andy Zelenak</maintainer>
   <maintainer email="yadunund@gmail.com">Yadunund</maintainer>
 
-  <license>Apache2</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
diff --git a/abb_hardware_interface/package.xml b/abb_hardware_interface/package.xml
index 224f04b3..66aa7fe2 100644
--- a/abb_hardware_interface/package.xml
+++ b/abb_hardware_interface/package.xml
@@ -9,7 +9,7 @@
   <maintainer email="zelenak@picknik.ai">Andy Zelenak</maintainer>
   <maintainer email="yadunund@gmail.com">Yadunund</maintainer>
 
-  <license>Apache2</license>
+  <license>Apache-2.0</license>
   <license>BSD-3-Clause</license>
 
   <author email="dmitri.ignakov@taigarobotics.com">Dmitri Ignakov</author>
diff --git a/abb_resources/package.xml b/abb_resources/package.xml
index 5227f0fe..1a27c77b 100644
--- a/abb_resources/package.xml
+++ b/abb_resources/package.xml
@@ -14,7 +14,7 @@
   <author email="levi.armstrong@swri.org">Levi Armstrong (Southwest Research Institute)</author>
   <maintainer email="levi.armstrong@swri.org">Levi Armstrong (Southwest Research Institute)</maintainer>
   <maintainer email="yadunund@gmail.com">Yadunund</maintainer>
-  <license>Apache2</license>
+  <license>Apache-2.0</license>
 
   <url type="website">http://wiki.ros.org/abb_resources</url>
   <url type="bugtracker">https://github.com/ros-industrial/abb/issues</url>
diff --git a/abb_ros2/package.xml b/abb_ros2/package.xml
index 8f0e97c9..69b36cd4 100644
--- a/abb_ros2/package.xml
+++ b/abb_ros2/package.xml
@@ -9,7 +9,7 @@
   <maintainer email="zelenak@picknik.ai">Andy Zelenak</maintainer>
   <maintainer email="yadunund@gmail.com">Yadunund</maintainer>
 
-  <license>Apache2</license>
+  <license>Apache-2.0</license>
 
   <author email="dmitri.ignakov@taigarobotics.com">Dmitri Ignakov</author>
   <author email="levi.armstrong@swri.org">Levi Armstrong (Southwest Research Institute)</author>
diff --git a/abb_rws_client/package.xml b/abb_rws_client/package.xml
index 14bb4bbc..4afd42f5 100644
--- a/abb_rws_client/package.xml
+++ b/abb_rws_client/package.xml
@@ -6,7 +6,7 @@
   <description>TODO: Package description</description>
   <maintainer email="gbartyzel@hotmail.com">Grzegorz Bartyzel</maintainer>
   <maintainer email="yadunund@gmail.com">Yadunund</maintainer>
-  <license>Apache2</license>
+  <license>Apache-2.0</license>
 
   <depend>rclcpp</depend>
   <depend>abb_egm_rws_managers</depend>
diff --git a/robot_specific_config/abb_irb1200_5_90_moveit_config/package.xml b/robot_specific_config/abb_irb1200_5_90_moveit_config/package.xml
index 4b149339..bb374268 100644
--- a/robot_specific_config/abb_irb1200_5_90_moveit_config/package.xml
+++ b/robot_specific_config/abb_irb1200_5_90_moveit_config/package.xml
@@ -17,7 +17,7 @@
   <maintainer email="levi.armstrong@swri.org">Levi Armstrong (Southwest Research Institute)</maintainer>
   <maintainer email="yadunund@gmail.com">Yadunund</maintainer>
 
-  <license>BSD</license>
+  <license>BSD-3-Clause</license>
 
   <url type="website">http://wiki.ros.org/abb_irb1200_5_90_moveit_config</url>
   <url type="bugtracker">https://github.com/ros-industrial/abb_experimental/issues</url>
diff --git a/robot_specific_config/abb_irb1200_support/package.xml b/robot_specific_config/abb_irb1200_support/package.xml
index d315b4e8..062bd0b7 100644
--- a/robot_specific_config/abb_irb1200_support/package.xml
+++ b/robot_specific_config/abb_irb1200_support/package.xml
@@ -40,7 +40,7 @@
   <author>Geoffrey Chiou (Southwest Research Institute)</author>
   <maintainer email="levi.armstrong@swri.org">Levi Armstrong (Southwest Research Institute)</maintainer>
   <maintainer email="yadunund@gmail.com">Yadunund</maintainer>
-  <license>Apache2</license>
+  <license>Apache-2.0</license>
 
   <url type="website">http://wiki.ros.org/abb_irb1200_support</url>
   <url type="bugtracker">https://github.com/ros-industrial/abb_experimental/issues</url>
diff --git a/robot_specific_config/abb_irb4600_support/package.xml b/robot_specific_config/abb_irb4600_support/package.xml
index d03e6392..f0e56498 100644
--- a/robot_specific_config/abb_irb4600_support/package.xml
+++ b/robot_specific_config/abb_irb4600_support/package.xml
@@ -28,7 +28,7 @@
   <author>Rik Tonnaer (SAM|XL)</author>
   <maintainer email="levi.armstrong@swri.org">Levi Armstrong (Southwest Research Institute)</maintainer>
   <maintainer email="yadunund@gmail.com">Yadunund</maintainer>
-  <license>Apache2</license>
+  <license>Apache-2.0</license>
 
   <url type="website">http://wiki.ros.org/abb_irb4600_support</url>
   <url type="bugtracker">https://github.com/ros-industrial/abb_experimental/issues</url>