diff --git a/simulation_control/src/scripts/descend_on_object_server.py b/simulation_control/src/scripts/descend_on_object_server.py
index c97c6be40d6cf6590915a0ef04b34d22c25f4424..bd706995163f706a51193448a6eaadf24629ce07 100644
--- a/simulation_control/src/scripts/descend_on_object_server.py
+++ b/simulation_control/src/scripts/descend_on_object_server.py
@@ -1,3 +1,34 @@
+'''Object Descend for F651
+ 
+  Copyright (C) 2018, CPS2018 Challenge by Team Halmstad. All rights reserved.
+ 
+  BSD license:
+  Redistribution and use in source and binary forms, with or without
+  modification, are permitted provided that the following conditions
+  are met:
+  1. Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+  2. Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+  3. Neither the name of the copyright holder nor the names of
+     contributors to this software may be used to endorse or promote
+     products derived from this software without specific prior written
+     permission.
+ 
+  THIS SOFTWARE IS PROVIDED BY THE AUTHORS AND CONTRIBUTORS ``AS IS''
+  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+  TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
+  PARTICULAR PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT
+  HOLDER OR THE CONTRIBUTORS TO THIS SOFTWARE BE LIABLE FOR ANY
+  DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+  DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE
+  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+  WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+  NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ '''
 #!/usr/bin/env python
 import rospy
 import actionlib