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)