From 7f80e689922a481fc7aba35b6ec5765c112eacb3 Mon Sep 17 00:00:00 2001
From: Jan Weber <jan.weber@hs-bochum.de>
Date: Mon, 1 Feb 2021 13:37:09 +0100
Subject: [PATCH] Compatibility with Python 2.7 provided
---
README.md | 4 ++++
abb_egm_driver/scripts/driver_test_node.py | 7 ++++---
2 files changed, 8 insertions(+), 3 deletions(-)
diff --git a/README.md b/README.md
index e22e541..5d0e60c 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 4f18dd7..9c8649d 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)
--
GitLab