diff --git a/doc/spdx-3.10-2020-08-03.csv b/doc/spdx-3.10-2020-08-03.csv
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+RSA Message-Digest License	RSA-MD			License Text
+Ricoh Source Code Public License	RSCPL		Y	License Text
+Ruby License	Ruby	Y		License Text
+Sax Public Domain Notice	SAX-PD			License Text
+Saxpath License	Saxpath			License Text
+SCEA Shared Source License	SCEA			License Text
+Sendmail License	Sendmail			License Text
+Sendmail License 8.23	Sendmail-8.23			License Text
+SGI Free Software License B v1.0	SGI-B-1.0			License Text
+SGI Free Software License B v1.1	SGI-B-1.1			License Text
+SGI Free Software License B v2.0	SGI-B-2.0	Y		License Text
+Solderpad Hardware License v0.5	SHL-0.5			License Text
+Solderpad Hardware License, Version 0.51	SHL-0.51			License Text
+Simple Public License 2.0	SimPL-2.0		Y	License Text
+Sun Industry Standards Source License v1.1	SISSL	Y	Y	License Text
+Sun Industry Standards Source License v1.2	SISSL-1.2			License Text
+Sleepycat License	Sleepycat	Y	Y	License Text
+Standard ML of New Jersey License	SMLNJ	Y		License Text
+Secure Messaging Protocol Public License	SMPPL			License Text
+SNIA Public License 1.1	SNIA			License Text
+Spencer License 86	Spencer-86			License Text
+Spencer License 94	Spencer-94			License Text
+Spencer License 99	Spencer-99			License Text
+Sun Public License v1.0	SPL-1.0	Y	Y	License Text
+SSH OpenSSH license	SSH-OpenSSH			License Text
+SSH short notice	SSH-short			License Text
+Server Side Public License, v 1	SSPL-1.0			License Text
+SugarCRM Public License v1.1.3	SugarCRM-1.1.3			License Text
+Scheme Widget Library (SWL) Software License Agreement	SWL			License Text
+TAPR Open Hardware License v1.0	TAPR-OHL-1.0			License Text
+TCL/TK License	TCL			License Text
+TCP Wrappers License	TCP-wrappers			License Text
+TMate Open Source License	TMate			License Text
+TORQUE v2.5+ Software License v1.1	TORQUE-1.1			License Text
+Trusster Open Source License	TOSL			License Text
+Technische Universitaet Berlin License 1.0	TU-Berlin-1.0			License Text
+Technische Universitaet Berlin License 2.0	TU-Berlin-2.0			License Text
+Upstream Compatibility License v1.0	UCL-1.0		Y	License Text
+Unicode License Agreement - Data Files and Software (2015)	Unicode-DFS-2015			License Text
+Unicode License Agreement - Data Files and Software (2016)	Unicode-DFS-2016			License Text
+Unicode Terms of Use	Unicode-TOU			License Text
+The Unlicense	Unlicense	Y	Y	License Text
+Universal Permissive License v1.0	UPL-1.0	Y	Y	License Text
+Vim License	Vim	Y		License Text
+VOSTROM Public License for Open Source	VOSTROM			License Text
+Vovida Software License v1.0	VSL-1.0		Y	License Text
+W3C Software Notice and License (2002-12-31)	W3C	Y	Y	License Text
+W3C Software Notice and License (1998-07-20)	W3C-19980720			License Text
+W3C Software Notice and Document License (2015-05-13)	W3C-20150513			License Text
+Sybase Open Watcom Public License 1.0	Watcom-1.0		Y	License Text
+Wsuipa License	Wsuipa			License Text
+Do What The F*ck You Want To Public License	WTFPL	Y		License Text
+X11 License	X11	Y		License Text
+Xerox License	Xerox			License Text
+XFree86 License 1.1	XFree86-1.1	Y		License Text
+xinetd License	xinetd	Y		License Text
+X.Net License	Xnet		Y	License Text
+XPP License	xpp			License Text
+XSkat License	XSkat			License Text
+Yahoo! Public License v1.0	YPL-1.0			License Text
+Yahoo! Public License v1.1	YPL-1.1	Y		License Text
+Zed License	Zed			License Text
+Zend License v2.0	Zend-2.0	Y		License Text
+Zimbra Public License v1.3	Zimbra-1.3	Y		License Text
+Zimbra Public License v1.4	Zimbra-1.4			License Text
+zlib License	Zlib	Y	Y	License Text
+zlib/libpng License with Acknowledgement	zlib-acknowledgement			License Text
+Zope Public License 1.1	ZPL-1.1			License Text
+Zope Public License 2.0	ZPL-2.0	Y	Y	License Text
+Zope Public License 2.1	ZPL-2.1	Y		License Text
diff --git a/src/catkin_pkg/package.py b/src/catkin_pkg/package.py
index bdc88a3b..737bbead 100644
--- a/src/catkin_pkg/package.py
+++ b/src/catkin_pkg/package.py
@@ -222,6 +222,85 @@ def validate(self, warnings=None):
         errors = []
         new_warnings = []
 
+        def is_valid_spdx_identifier(lic):
+            """
+            Checks if the license is already one of valid SPDX Identifiers.
+
+            The list was created from https://spdx.org/licenses/ with:
+            cat doc/spdx-3.10-2020-08-03.csv | cut -f 2 | grep -v ^Identifier$
+            """
+            return lic in ['0BSD', 'AAL', 'Abstyles', 'Adobe-2006', 'Adobe-Glyph', 'ADSL', 'AFL-1.1', 'AFL-1.2', 'AFL-2.0', 'AFL-2.1', 'AFL-3.0', 'Afmparse', 'AGPL-1.0-only', 'AGPL-1.0-or-later',
+                           'AGPL-3.0-only', 'AGPL-3.0-or-later', 'Aladdin', 'AMDPLPA', 'AML', 'AMPAS', 'ANTLR-PD', 'Apache-1.0', 'Apache-1.1', 'Apache-2.0', 'APAFML', 'APL-1.0', 'APSL-1.0',
+                           'APSL-1.1', 'APSL-1.2', 'APSL-2.0', 'Artistic-1.0', 'Artistic-1.0-cl8', 'Artistic-1.0-Perl', 'Artistic-2.0', 'Bahyph', 'Barr', 'Beerware', 'BitTorrent-1.0',
+                           'BitTorrent-1.1', 'blessing', 'BlueOak-1.0.0', 'Borceux', 'BSD-1-Clause', 'BSD-2-Clause', 'BSD-2-Clause-Patent', 'BSD-2-Clause-Views', 'BSD-3-Clause',
+                           'BSD-3-Clause-Attribution', 'BSD-3-Clause-Clear', 'BSD-3-Clause-LBNL', 'BSD-3-Clause-No-Nuclear-License', 'BSD-3-Clause-No-Nuclear-License-2014',
+                           'BSD-3-Clause-No-Nuclear-Warranty', 'BSD-3-Clause-Open-MPI', 'BSD-4-Clause', 'BSD-4-Clause-UC', 'BSD-Protection', 'BSD-Source-Code', 'BSL-1.0', 'bzip2-1.0.5',
+                           'bzip2-1.0.6', 'CAL-1.0', 'CAL-1.0-Combined-Work-Exception', 'Caldera', 'CATOSL-1.1', 'CC-BY-1.0', 'CC-BY-2.0', 'CC-BY-2.5', 'CC-BY-3.0', 'CC-BY-3.0-AT', 'CC-BY-4.0',
+                           'CC-BY-NC-1.0', 'CC-BY-NC-2.0', 'CC-BY-NC-2.5', 'CC-BY-NC-3.0', 'CC-BY-NC-4.0', 'CC-BY-NC-ND-1.0', 'CC-BY-NC-ND-2.0', 'CC-BY-NC-ND-2.5', 'CC-BY-NC-ND-3.0',
+                           'CC-BY-NC-ND-3.0-IGO', 'CC-BY-NC-ND-4.0', 'CC-BY-NC-SA-1.0', 'CC-BY-NC-SA-2.0', 'CC-BY-NC-SA-2.5', 'CC-BY-NC-SA-3.0', 'CC-BY-NC-SA-4.0', 'CC-BY-ND-1.0', 'CC-BY-ND-2.0',
+                           'CC-BY-ND-2.5', 'CC-BY-ND-3.0', 'CC-BY-ND-4.0', 'CC-BY-SA-1.0', 'CC-BY-SA-2.0', 'CC-BY-SA-2.5', 'CC-BY-SA-3.0', 'CC-BY-SA-3.0-AT', 'CC-BY-SA-4.0', 'CC-PDDC', 'CC0-1.0',
+                           'CDDL-1.0', 'CDDL-1.1', 'CDLA-Permissive-1.0', 'CDLA-Sharing-1.0', 'CECILL-1.0', 'CECILL-1.1', 'CECILL-2.0', 'CECILL-2.1', 'CECILL-B', 'CECILL-C', 'CERN-OHL-1.1',
+                           'CERN-OHL-1.2', 'CERN-OHL-P-2.0', 'CERN-OHL-S-2.0', 'CERN-OHL-W-2.0', 'ClArtistic', 'CNRI-Jython', 'CNRI-Python', 'CNRI-Python-GPL-Compatible', 'Condor-1.1',
+                           'copyleft-next-0.3.0', 'copyleft-next-0.3.1', 'CPAL-1.0', 'CPL-1.0', 'CPOL-1.02', 'Crossword', 'CrystalStacker', 'CUA-OPL-1.0', 'Cube', 'curl', 'D-FSL-1.0', 'diffmark',
+                           'DOC', 'Dotseqn', 'DSDP', 'dvipdfm', 'ECL-1.0', 'ECL-2.0', 'EFL-1.0', 'EFL-2.0', 'eGenix', 'Entessa', 'EPICS', 'EPL-1.0', 'EPL-2.0', 'ErlPL-1.1', 'etalab-2.0',
+                           'EUDatagrid', 'EUPL-1.0', 'EUPL-1.1', 'EUPL-1.2', 'Eurosym', 'Fair', 'Frameworx-1.0', 'FreeImage', 'FSFAP', 'FSFUL', 'FSFULLR', 'FTL', 'GFDL-1.1-invariants-only',
+                           'GFDL-1.1-invariants-or-later', 'GFDL-1.1-no-invariants-only', 'GFDL-1.1-no-invariants-or-later', 'GFDL-1.1-only', 'GFDL-1.1-or-later', 'GFDL-1.2-invariants-only',
+                           'GFDL-1.2-invariants-or-later', 'GFDL-1.2-no-invariants-only', 'GFDL-1.2-no-invariants-or-later', 'GFDL-1.2-only', 'GFDL-1.2-or-later', 'GFDL-1.3-invariants-only',
+                           'GFDL-1.3-invariants-or-later', 'GFDL-1.3-no-invariants-only', 'GFDL-1.3-no-invariants-or-later', 'GFDL-1.3-only', 'GFDL-1.3-or-later', 'Giftware', 'GL2PS', 'Glide',
+                           'Glulxe', 'GLWTPL', 'gnuplot', 'GPL-1.0-only', 'GPL-1.0-or-later', 'GPL-2.0-only', 'GPL-2.0-or-later', 'GPL-3.0-only', 'GPL-3.0-or-later', 'gSOAP-1.3b', 'HaskellReport',
+                           'Hippocratic-2.1', 'HPND', 'HPND-sell-variant', 'IBM-pibs', 'ICU', 'IJG', 'ImageMagick', 'iMatix', 'Imlib2', 'Info-ZIP', 'Intel', 'Intel-ACPI', 'Interbase-1.0', 'IPA',
+                           'IPL-1.0', 'ISC', 'JasPer-2.0', 'JPNIC', 'JSON', 'LAL-1.2', 'LAL-1.3', 'Latex2e', 'Leptonica', 'LGPL-2.0-only', 'LGPL-2.0-or-later', 'LGPL-2.1-only', 'LGPL-2.1-or-later',
+                           'LGPL-3.0-only', 'LGPL-3.0-or-later', 'LGPLLR', 'Libpng', 'libpng-2.0', 'libselinux-1.0', 'libtiff', 'LiLiQ-P-1.1', 'LiLiQ-R-1.1', 'LiLiQ-Rplus-1.1', 'Linux-OpenIB',
+                           'LPL-1.0', 'LPL-1.02', 'LPPL-1.0', 'LPPL-1.1', 'LPPL-1.2', 'LPPL-1.3a', 'LPPL-1.3c', 'MakeIndex', 'MirOS', 'MIT', 'MIT-0', 'MIT-advertising', 'MIT-CMU', 'MIT-enna',
+                           'MIT-feh', 'MITNFA', 'Motosoto', 'mpich2', 'MPL-1.0', 'MPL-1.1', 'MPL-2.0', 'MPL-2.0-no-copyleft-exception', 'MS-PL', 'MS-RL', 'MTLL', 'MulanPSL-1.0', 'MulanPSL-2.0',
+                           'Multics', 'Mup', 'NASA-1.3', 'Naumen', 'NBPL-1.0', 'NCGL-UK-2.0', 'NCSA', 'Net-SNMP', 'NetCDF', 'Newsletr', 'NGPL', 'NIST-PD', 'NIST-PD-fallback', 'NLOD-1.0', 'NLPL',
+                           'Nokia', 'NOSL', 'Noweb', 'NPL-1.0', 'NPL-1.1', 'NPOSL-3.0', 'NRL', 'NTP', 'NTP-0', 'O-UDA-1.0', 'OCCT-PL', 'OCLC-2.0', 'ODbL-1.0', 'ODC-By-1.0', 'OFL-1.0',
+                           'OFL-1.0-no-RFN', 'OFL-1.0-RFN', 'OFL-1.1', 'OFL-1.1-no-RFN', 'OFL-1.1-RFN', 'OGC-1.0', 'OGL-Canada-2.0', 'OGL-UK-1.0', 'OGL-UK-2.0', 'OGL-UK-3.0', 'OGTSL', 'OLDAP-1.1',
+                           'OLDAP-1.2', 'OLDAP-1.3', 'OLDAP-1.4', 'OLDAP-2.0', 'OLDAP-2.0.1', 'OLDAP-2.1', 'OLDAP-2.2', 'OLDAP-2.2.1', 'OLDAP-2.2.2', 'OLDAP-2.3', 'OLDAP-2.4', 'OLDAP-2.5',
+                           'OLDAP-2.6', 'OLDAP-2.7', 'OLDAP-2.8', 'OML', 'OpenSSL', 'OPL-1.0', 'OSET-PL-2.1', 'OSL-1.0', 'OSL-1.1', 'OSL-2.0', 'OSL-2.1', 'OSL-3.0', 'Parity-6.0.0', 'Parity-7.0.0',
+                           'PDDL-1.0', 'PHP-3.0', 'PHP-3.01', 'Plexus', 'PolyForm-Noncommercial-1.0.0', 'PolyForm-Small-Business-1.0.0', 'PostgreSQL', 'PSF-2.0', 'psfrag', 'psutils', 'Python-2.0',
+                           'Qhull', 'QPL-1.0', 'Rdisc', 'RHeCos-1.1', 'RPL-1.1', 'RPL-1.5', 'RPSL-1.0', 'RSA-MD', 'RSCPL', 'Ruby', 'SAX-PD', 'Saxpath', 'SCEA', 'Sendmail', 'Sendmail-8.23',
+                           'SGI-B-1.0', 'SGI-B-1.1', 'SGI-B-2.0', 'SHL-0.5', 'SHL-0.51', 'SimPL-2.0', 'SISSL', 'SISSL-1.2', 'Sleepycat', 'SMLNJ', 'SMPPL', 'SNIA', 'Spencer-86', 'Spencer-94',
+                           'Spencer-99', 'SPL-1.0', 'SSH-OpenSSH', 'SSH-short', 'SSPL-1.0', 'SugarCRM-1.1.3', 'SWL', 'TAPR-OHL-1.0', 'TCL', 'TCP-wrappers', 'TMate', 'TORQUE-1.1', 'TOSL',
+                           'TU-Berlin-1.0', 'TU-Berlin-2.0', 'UCL-1.0', 'Unicode-DFS-2015', 'Unicode-DFS-2016', 'Unicode-TOU', 'Unlicense', 'UPL-1.0', 'Vim', 'VOSTROM', 'VSL-1.0', 'W3C',
+                           'W3C-19980720', 'W3C-20150513', 'Watcom-1.0', 'Wsuipa', 'WTFPL', 'X11', 'Xerox', 'XFree86-1.1', 'xinetd', 'Xnet', 'xpp', 'XSkat', 'YPL-1.0', 'YPL-1.1', 'Zed', 'Zend-2.0',
+                           'Zimbra-1.3', 'Zimbra-1.4', 'Zlib', 'zlib-acknowledgement', 'ZPL-1.1', 'ZPL-2.0', 'ZPL-2.1']
+
+        def map_license_to_spdx(lic):
+            """
+            Map some commonly used license values to one of valid SPDX Identifiers.
+
+            This is mapping only whatever value is listed in package.xml without any
+            knowledge about the actual license used in the source files - it can map
+            only the clear unambiguous cases (while triggering an warning) - the rest
+            needs to be fixed in package.xml, so it will trigger an error
+
+            This is similar to what e.g. Openembedded is doing in:
+            http://git.openembedded.org/openembedded-core/tree/meta/conf/licenses.conf
+            """
+            return {
+                'Apache2': 'Apache-2.0',
+            }.get(lic, None)
+
+        def validate_licenses(licenses, warnings):
+            for lic in licenses:
+                if is_valid_spdx_identifier(lic):
+                    continue
+
+                if lic == 'TODO':
+                    warnings.append('The license value "%s" is only temporary from the template, replace it with correct value' % (lic))
+                    continue
+
+                spdx = map_license_to_spdx(lic)
+                if not spdx:
+                    warnings.append('The license value "%s" cannot be mapped to valid SPDX identifier' % (lic))
+                elif spdx != lic:
+                    # double check that what we mapped it to, is one of valid SPDX identifiers
+                    if not is_valid_spdx_identifier(spdx):
+                        warnings.append('The license value "%s" was mapped to "%s", but that is not listed as valid identifier' % (lic, spdx))
+                    else:
+                        warnings.append('The license value "%s" is not valid SPDX identifier, please use "%s" instead' % (lic, spdx))
+
         if self.package_format:
             if not re.match('^[1-9][0-9]*$', str(self.package_format)):
                 errors.append('The "format" attribute of the package must contain a positive integer if present')
@@ -268,6 +347,8 @@ def validate(self, warnings=None):
         if [license_ for license_ in self.licenses if not license_.strip()]:
             errors.append('The license tag must neither be empty nor only contain whitespaces')
 
+        validate_licenses(self.licenses, new_warnings)
+
         if self.authors is not None:
             for author in self.authors:
                 try: