(N.b.: I am not a lawyer)

Generally speaking, to quote the legal FAQ: "No. Other sources must not be used as the base of any data uploaded to OSM - whether maps, aerial imagery, or photographs such as Google Street View."[0] Things are a little bit grey in cases such as this, since you can't copyright simple matters of fact, only collections of them, so the question of "is this set of locations/addresses/business names a simple matter of fact or a copyrighted collection?" is often unclear, but OSM as a rule comes down hard on the "never do that without an explicit license" side. Wikipedia, on the other hand, feels that it's fine, which is why we're not allowed to source data from Wikipedia.[1]

[0] https://wiki.openstreetmap.org/wiki/Legal_FAQ#Can_I_trace_data_from_Google_Maps/Nokia_Maps/...?

[1] https://wiki.openstreetmap.org/wiki/Collaboration_with_Wikipedia#Geodata_import/exports_with_Wikimedia_projects