diff --git a/.github/workflows/licensechecker.yaml b/.github/workflows/licensechecker.yaml
new file mode 100644
index 00000000..c18e223b
--- /dev/null
+++ b/.github/workflows/licensechecker.yaml
@@ -0,0 +1,9 @@
+name: Check License Lines
+on: [push, pull_request]
+jobs:
+  check-license-lines:
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/checkout@master
+      - name: Check License Lines
+        uses: kt3k/license_checker@v1.0.6
diff --git a/.licenserc.json b/.licenserc.json
new file mode 100644
index 00000000..519bdf2a
--- /dev/null
+++ b/.licenserc.json
@@ -0,0 +1,12 @@
+{
+  "**/*.py": [
+    "# Copyright ",
+    "#",
+    "# Licensed under the Apache License, Version 2.0 (the \"License\");"
+  ],
+  "**/*.{h,cpp,hpp}": [
+    "// Copyright ",
+    "//",
+    "// Licensed under the Apache License, Version 2.0 (the \"License\");"
+  ]
+}
diff --git a/src/rai/rai/apps/__init__.py b/src/rai/rai/apps/__init__.py
index e69de29b..f138f42a 100644
--- a/src/rai/rai/apps/__init__.py
+++ b/src/rai/rai/apps/__init__.py
@@ -0,0 +1,14 @@
+# Copyright (C) 2024 Robotec.AI
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#         http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
diff --git a/src/rai/rai/cli/__init__.py b/src/rai/rai/cli/__init__.py
index e69de29b..f138f42a 100644
--- a/src/rai/rai/cli/__init__.py
+++ b/src/rai/rai/cli/__init__.py
@@ -0,0 +1,14 @@
+# Copyright (C) 2024 Robotec.AI
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#         http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
diff --git a/src/rai/rai/extensions/__init__.py b/src/rai/rai/extensions/__init__.py
index e69de29b..f138f42a 100644
--- a/src/rai/rai/extensions/__init__.py
+++ b/src/rai/rai/extensions/__init__.py
@@ -0,0 +1,14 @@
+# Copyright (C) 2024 Robotec.AI
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#         http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#