In short, Le Roux was the original author (under the name E4M) was later hired by Hafner to write a commercial disc encryption system together with Hollingworth who authored ScramDisc.
Later Le Roux released E4M under its new name TrueCrypt, and the commercial team (with Tesarik as its maintainer) sued him.
Thanks, I was not aware that Wikipedia mentions David Tesařík.
From what I can see in Wikipedia article, there is nothing about David Tesařík's legal dispute with Le Roux, actually it says that Le Roux had a dispute with SecurStar (a company which wanted to develop commercial disc encryption system).
Team member David Tesařík stated that Le Roux informed the team that there was a legal dispute between himself and SecurStar, and that he had received legal advice not to comment on the case. Because of this, he was unable to confirm or deny the legitimacy of TrueCrypt, keeping its development in limbo.[13][14] A new version was released in June,[15] but with a different digital signature and the developers now being referred to as "the TrueCrypt Foundation". The project received funding, the source of which is equally unclear.
Altogether, it is still unclear how much Le Roux participated in TrueCrypt development (except E4M legacy), but it is clear that David Tesařík was one of the main developers of TrueCrypt
In short, Le Roux was the original author (under the name E4M) was later hired by Hafner to write a commercial disc encryption system together with Hollingworth who authored ScramDisc. Later Le Roux released E4M under its new name TrueCrypt, and the commercial team (with Tesarik as its maintainer) sued him.