diff --git a/dynamixel_controllers/nodes/controller_manager.py b/dynamixel_controllers/nodes/controller_manager.py
index 6133ef0..c052a80 100755
--- a/dynamixel_controllers/nodes/controller_manager.py
+++ b/dynamixel_controllers/nodes/controller_manager.py
@@ -61,6 +61,7 @@
 from dynamixel_controllers.srv import StopControllerResponse
 from dynamixel_controllers.srv import RestartController
 from dynamixel_controllers.srv import RestartControllerResponse
+import importlib
 
 class ControllerManager:
     def __init__(self):
@@ -78,7 +79,7 @@ def __init__(self):
         manager_namespace = rospy.get_param('~namespace')
         serial_ports = rospy.get_param('~serial_ports')
         
-        for port_namespace,port_config in serial_ports.items():
+        for port_namespace,port_config in list(serial_ports.items()):
             port_name = port_config['port_name']
             baud_rate = port_config['baud_rate']
             readback_echo = port_config['readback_echo'] if 'readback_echo' in port_config else False
@@ -132,7 +133,7 @@ def __init__(self):
         if self.diagnostics_rate > 0: Thread(target=self.diagnostics_processor).start()
 
     def on_shutdown(self):
-        for serial_proxy in self.serial_proxies.values():
+        for serial_proxy in list(self.serial_proxies.values()):
             serial_proxy.disconnect()
 
     def diagnostics_processor(self):
@@ -143,7 +144,7 @@ def diagnostics_processor(self):
             diag_msg.status = []
             diag_msg.header.stamp = rospy.Time.now()
             
-            for controller in self.controllers.values():
+            for controller in list(self.controllers.values()):
                 try:
                     joint_state = controller.joint_state
                     temps = joint_state.motor_temps
@@ -173,9 +174,9 @@ def check_deps(self):
         controllers_still_waiting = []
         
         for i,(controller_name,deps,kls) in enumerate(self.waiting_meta_controllers):
-            if not set(deps).issubset(self.controllers.keys()):
+            if not set(deps).issubset(list(self.controllers.keys())):
                 controllers_still_waiting.append(self.waiting_meta_controllers[i])
-                rospy.logwarn('[%s] not all dependencies started, still waiting for %s...' % (controller_name, str(list(set(deps).difference(self.controllers.keys())))))
+                rospy.logwarn('[%s] not all dependencies started, still waiting for %s...' % (controller_name, str(list(set(deps).difference(list(self.controllers.keys()))))))
             else:
                 dependencies = [self.controllers[dep_name] for dep_name in deps]
                 controller = kls(controller_name, dependencies)
@@ -205,7 +206,7 @@ def start_controller(self, req):
                 package_module = __import__(package_path, globals(), locals(), [module_name], -1)
             else:
                 # reload module if previously imported
-                package_module = reload(sys.modules[package_path])
+                package_module = importlib.reload(sys.modules[package_path])
             controller_module = getattr(package_module, module_name)
         except ImportError as ie:
             self.start_controller_lock.release()
@@ -227,7 +228,7 @@ def start_controller(self, req):
             
         if port_name != 'meta' and (port_name not in self.serial_proxies):
             self.start_controller_lock.release()
-            return StartControllerResponse(False, 'Specified port [%s] not found, available ports are %s. Unable to start controller %s' % (port_name, str(self.serial_proxies.keys()), controller_name))
+            return StartControllerResponse(False, 'Specified port [%s] not found, available ports are %s. Unable to start controller %s' % (port_name, str(list(self.serial_proxies.keys())), controller_name))
             
         controller = kls(self.serial_proxies[port_name].dxl_io, controller_name, port_name)
         
diff --git a/dynamixel_controllers/src/dynamixel_controllers/joint_position_controller.py b/dynamixel_controllers/src/dynamixel_controllers/joint_position_controller.py
index bb3a637..c3cdb0d 100755
--- a/dynamixel_controllers/src/dynamixel_controllers/joint_position_controller.py
+++ b/dynamixel_controllers/src/dynamixel_controllers/joint_position_controller.py
@@ -32,7 +32,7 @@
 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 
-from __future__ import division
+
 
 
 __author__ = 'Antons Rebguns'
@@ -166,7 +166,7 @@ def set_acceleration_raw(self, acc):
 
     def process_motor_states(self, state_list):
         if self.running:
-            state = filter(lambda state: state.id == self.motor_id, state_list.motor_states)
+            state = [state for state in state_list.motor_states if state.id == self.motor_id]
             if state:
                 state = state[0]
                 self.joint_state.motor_temps = [state.temperature]
diff --git a/dynamixel_controllers/src/dynamixel_controllers/joint_position_controller_dual_motor.py b/dynamixel_controllers/src/dynamixel_controllers/joint_position_controller_dual_motor.py
index f58aad9..3b63b35 100644
--- a/dynamixel_controllers/src/dynamixel_controllers/joint_position_controller_dual_motor.py
+++ b/dynamixel_controllers/src/dynamixel_controllers/joint_position_controller_dual_motor.py
@@ -32,7 +32,7 @@
 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 
-from __future__ import division
+
 
 
 __author__ = 'Antons Rebguns'
diff --git a/dynamixel_controllers/src/dynamixel_controllers/joint_torque_controller.py b/dynamixel_controllers/src/dynamixel_controllers/joint_torque_controller.py
index 076bf0f..f1e4777 100644
--- a/dynamixel_controllers/src/dynamixel_controllers/joint_torque_controller.py
+++ b/dynamixel_controllers/src/dynamixel_controllers/joint_torque_controller.py
@@ -32,7 +32,7 @@
 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 
-from __future__ import division
+
 
 
 __author__ = 'Antons Rebguns'
@@ -151,7 +151,7 @@ def set_torque_limit(self, max_torque):
 
     def process_motor_states(self, state_list):
         if self.running:
-            state = filter(lambda state: state.id == self.motor_id, state_list.motor_states)
+            state = [state for state in state_list.motor_states if state.id == self.motor_id]
             if state:
                 state = state[0]
                 self.joint_state.motor_temps = [state.temperature]
diff --git a/dynamixel_controllers/src/dynamixel_controllers/joint_torque_controller_dual_motor.py b/dynamixel_controllers/src/dynamixel_controllers/joint_torque_controller_dual_motor.py
index 018586a..4642bc7 100644
--- a/dynamixel_controllers/src/dynamixel_controllers/joint_torque_controller_dual_motor.py
+++ b/dynamixel_controllers/src/dynamixel_controllers/joint_torque_controller_dual_motor.py
@@ -32,7 +32,7 @@
 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 
-from __future__ import division
+
 
 
 __author__ = 'Antons Rebguns'
diff --git a/dynamixel_controllers/src/dynamixel_controllers/joint_trajectory_action_controller.py b/dynamixel_controllers/src/dynamixel_controllers/joint_trajectory_action_controller.py
index 4315d36..e3b87e0 100755
--- a/dynamixel_controllers/src/dynamixel_controllers/joint_trajectory_action_controller.py
+++ b/dynamixel_controllers/src/dynamixel_controllers/joint_trajectory_action_controller.py
@@ -32,7 +32,7 @@
 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 
-from __future__ import division
+
 
 
 __author__ = 'Antons Rebguns'
@@ -85,9 +85,9 @@ def __init__(self, controller_namespace, controllers):
             if c.port_namespace in self.port_to_io: continue
             self.port_to_io[c.port_namespace] = c.dxl_io
             
-        self.joint_states = dict(zip(self.joint_names, [c.joint_state for c in controllers]))
+        self.joint_states = dict(list(zip(self.joint_names, [c.joint_state for c in controllers])))
         self.num_joints = len(self.joint_names)
-        self.joint_to_idx = dict(zip(self.joint_names, range(self.num_joints)))
+        self.joint_to_idx = dict(list(zip(self.joint_names, list(range(self.num_joints)))))
 
     def initialize(self):
         ns = self.controller_namespace + '/joint_trajectory_action_node/constraints'
@@ -245,7 +245,7 @@ def process_trajectory(self, traj):
                 
             multi_packet = {}
             
-            for port, joints in self.port_to_joints.items():
+            for port, joints in list(self.port_to_joints.items()):
                 vals = []
                 
                 for joint in joints:
@@ -276,7 +276,7 @@ def process_trajectory(self, traj):
                     
                 multi_packet[port] = vals
                 
-            for port, vals in multi_packet.items():
+            for port, vals in list(multi_packet.items()):
                 self.port_to_io[port].set_multi_position_and_speed(vals)
                 
             while time < seg_end_times[seg]:
@@ -286,7 +286,7 @@ def process_trajectory(self, traj):
                     msg = 'New trajectory received. Aborting old trajectory.'
                     multi_packet = {}
                     
-                    for port, joints in self.port_to_joints.items():
+                    for port, joints in list(self.port_to_joints.items()):
                         vals = []
                         
                         for joint in joints:
@@ -299,7 +299,7 @@ def process_trajectory(self, traj):
                             
                         multi_packet[port] = vals
                         
-                    for port, vals in multi_packet.items():
+                    for port, vals in list(multi_packet.items()):
                         self.port_to_io[port].set_multi_position(vals)
                         
                     self.action_server.set_preempted(text=msg)
diff --git a/dynamixel_driver/src/dynamixel_driver/dynamixel_serial_proxy.py b/dynamixel_driver/src/dynamixel_driver/dynamixel_serial_proxy.py
index 51dcc87..b859077 100755
--- a/dynamixel_driver/src/dynamixel_driver/dynamixel_serial_proxy.py
+++ b/dynamixel_driver/src/dynamixel_driver/dynamixel_serial_proxy.py
@@ -197,7 +197,7 @@ def __find_motors(self):
         rospy.set_param('dynamixel/%s/connected_ids' % self.port_namespace, self.motors)
         
         status_str = '%s: Found %d motors - ' % (self.port_namespace, len(self.motors))
-        for model_number,count in counts.items():
+        for model_number,count in list(counts.items()):
             if count:
                 model_name = DXL_MODEL_TO_PARAMS[model_number]['name']
                 status_str += '%d %s [' % (count, model_name)