First of all you need to define ‘access callback’ and ‘access argument’ in hook_menu() for respective uri. like this:
Then you need to create hook_permission method within in the module
Then you need to define item_access method
Now clear your cache. Donot forget to clear your cache as drupal 7 makes heavy usage of its cache.
Now go to /people/permissions page of your admin panel.
There you should see ‘View Item’ with little checkboxs, now enable then view of item for any users by selecting on them.