Python 3 update

.gitignore

@@ -0,0 +1,164 @@
+# My Files
+test.py
+
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+.vscode
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# poetry
+#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+#poetry.lock
+
+# pdm
+#   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
+#pdm.lock
+#   pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
+#   in version control.
+#   https://pdm.fming.dev/#use-with-ide
+.pdm.toml
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# PyCharm
+#  JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+#  and can be added to the global gitignore or merged into this file.  For a more nuclear
+#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
+#.idea/

README.md

@@ -1,37 +1,42 @@
-# open-abb-driver
-### Control ABB robots remotely with ROS, Python, or C++
-
+# open-abb-driver | Python 3 Upgrade 🚀
 
+### Control ABB robots remotely with ROS, Python, or C++
 
 ## What is it?
-open-abb-driver consists of two main parts. The first is a program which is written in the ABB robot control language, RAPID, which allows remote clients to send requests for actions (such as joint moves, cartesian moves, speed changes, etc.). The second is a series of libraries to interact with the robot from remote computers, using several different control schemes. You can use the ROS driver, which allows control using ROS services and publishers. You can also include the Python or C++ libraries to communicate with the robot directly (both located in abb_node/packages/abb_comm), and bypass ROS completely. 
+
+open-abb-driver consists of two main parts. The first is a program that is written in the ABB robot control language, RAPID, which allows remote clients to send requests for actions (such as joint moves, cartesian moves, speed changes, etc.). The second is a series of libraries to interact with the robot from remote computers, using several different control schemes. You can use the ROS driver, which allows control using ROS services and publishers. You can also include the Python or C++ libraries to communicate with the robot directly (both located in abb_node/packages/abb_comm), and bypass ROS completely.
 
 ## Requirements
-* ABB IRC5 controller
-* 6 DOF robotic manipulator
-* Robot must have the following factory software options
-    * "PC Interface"
-    * "Multitasking" (required for position feedback stream)
+
+- ABB IRC5 controller
+- 6 DOF robotic manipulator
+- Robot must have the following factory software options
+  - "PC Interface"
+  - "Multitasking" (required for position feedback stream)
 
 ## Quick Start
+
 ### Robot Setup
-* Install the RAPID module 'SERVER'
-    * Using RobotStudio online mode is the easiest way to do this, check out the [wiki article](https://github.com/robotics/open-abb-driver/wiki/Configuring-an-ABB-Robot-for-OAD) for details.
-* For position feedback, install the RAPID module 'LOGGER' into another task. 
-* In SERVER.mod, check to make sure the "ipController" specified is the same as your robot. The default robot IP is 192.168.125.1
-* Start the programs on the robot
-    * Production Window->PP to Main, then press the play button. 
+
+- Install the RAPID module 'SERVER'
+  - Using RobotStudio online mode is the easiest way to do this, check out the [wiki article](https://github.com/robotics/open-abb-driver/wiki/Configuring-an-ABB-Robot-for-OAD) for details.
+- For position feedback, install the RAPID module 'LOGGER' into another task.
+- In SERVER.mod, check to make sure the "ipController" specified is the same as your robot. The default robot IP is 192.168.125.1
+- Start the programs on the robot
+  - Production Window->PP to Main, then press the play button.
 
 ### Computer Setup
-* Verify that your computer is on the same subnet as the robot.
-    * Try pinging the robot (default IP is 192.168.125.1). 
-* Before trying ROS, it's pretty easy to check functionality using the [simple python interface.](https://github.com/robotics/open-abb-driver/wiki/Python-Control)
-    * Note that you must either copy abb_node/packages/abb_comm/abb.py to your local directory or somewhere included in your PYTHONPATH environment. 
-* To set up the ROS node (Fuerte only at the moment), copy abb_node to somewhere in your $ROS_PACKAGE_PATH.
-    * If you did that correctly, try:
-
-        ```
-        roscd abb_node
-        rosmake abb_node
-        roslaunch abb_node abb_tf.launch
-        ```
+
+- Verify that your computer is on the same subnet as the robot.
+  - Try pinging the robot (default IP is 192.168.125.1).
+- Before trying ROS, it's pretty easy to check functionality using the [simple python interface.](https://github.com/robotics/open-abb-driver/wiki/Python-Control)
+  - Note that you must either copy abb_node/packages/abb_comm/abb.py to your local directory or somewhere included in your PYTHONPATH environment.
+- To set up the ROS node (Fuerte only at the moment), copy abb_node to somewhere in your $ROS_PACKAGE_PATH.
+
+  - If you did that correctly, try:
+
+    ```
+    roscd abb_node
+    rosmake abb_node
+    roslaunch abb_node abb_tf.launch
+    ```