diff --git a/README.md b/README.md
index e22e541f66efbe82122c5c8be990f83b8eb63562..5d0e60ccdccb34465628b1ee963ca5c44e2b1f09 100644
--- a/README.md
+++ b/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
diff --git a/abb_egm_driver/scripts/driver_test_node.py b/abb_egm_driver/scripts/driver_test_node.py
index 4f18dd7f6977a65f28951597ffde8971f07d36f2..9c8649d9bb4232e27b81c4c6b607b512d5f9b9dc 100755
--- a/abb_egm_driver/scripts/driver_test_node.py
+++ b/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)