Compatibility with Python 2.7 provided

README.md

@@ -71,6 +71,10 @@ Clone the EGM driver:
 
     git clone --recursive https://gitlab.cvh-server.de/jweber/abb_egm_driver.git
 
+ROS Melodic uses Python 2.7, so in the script **abb_egm_driver/scripts/driver_test_node.py** the first line has to be changed to
+
+    #!/usr/bin/env python
+
 Build the project:
 
     catkin build

abb_egm_driver/scripts/driver_test_node.py

@@ -146,10 +146,11 @@ def circle(move_group, robot):
     mx = current_pose.position.x - r # so that the start point of the circle is on the current robot position
     mz = current_pose.position.z
     steps = 40
-    t = 3
+    t = 3.0
     for a in range(steps):
-        dx = r * math.cos(a/steps*2.0*pi)
-        dz = r * math.sin(a/steps*2.0*pi)
+        phi = float(a)/steps*2.0*pi
+        dx = r * math.cos(phi)
+        dz = r * math.sin(phi)
         goal.pose.position.x = mx + dx
         goal.pose.position.z = mz + dz
         robot_state = inverseKinematics.getJointAngles(goal, current_robot_state)