diff --git a/dynamixel_controllers/CMakeLists.txt b/dynamixel_controllers/CMakeLists.txt
index 38ca87f..f62d836 100644
--- a/dynamixel_controllers/CMakeLists.txt
+++ b/dynamixel_controllers/CMakeLists.txt
@@ -30,6 +30,7 @@ catkin_package(
   diagnostic_msgs
   dynamixel_msgs
   control_msgs
+  message_runtime
 )
 
 install(DIRECTORY launch
diff --git a/dynamixel_controllers/package.xml b/dynamixel_controllers/package.xml
index b1a7c68..0b488ab 100644
--- a/dynamixel_controllers/package.xml
+++ b/dynamixel_controllers/package.xml
@@ -32,8 +32,9 @@
   <run_depend>dynamixel_msgs</run_depend>
   <run_depend>control_msgs</run_depend>
   <run_depend>dynamixel_driver</run_depend>
+  <run_depend>message_runtime</run_depend>
   
   <export>
 
   </export>
-</package>
\ No newline at end of file
+</package>
diff --git a/dynamixel_controllers/src/dynamixel_controllers/joint_position_controller.py b/dynamixel_controllers/src/dynamixel_controllers/joint_position_controller.py
old mode 100755
new mode 100644
diff --git a/dynamixel_controllers/src/dynamixel_controllers/joint_trajectory_action_controller.py b/dynamixel_controllers/src/dynamixel_controllers/joint_trajectory_action_controller.py
old mode 100755
new mode 100644
diff --git a/dynamixel_driver/src/dynamixel_driver/dynamixel_const.py b/dynamixel_driver/src/dynamixel_driver/dynamixel_const.py
old mode 100755
new mode 100644
diff --git a/dynamixel_driver/src/dynamixel_driver/dynamixel_io.py b/dynamixel_driver/src/dynamixel_driver/dynamixel_io.py
old mode 100755
new mode 100644
index 5271450..c9fa3aa
--- a/dynamixel_driver/src/dynamixel_driver/dynamixel_io.py
+++ b/dynamixel_driver/src/dynamixel_driver/dynamixel_io.py
@@ -64,9 +64,7 @@ def __init__(self, port, baudrate, readback_echo=False):
         try:
             self.serial_mutex = Lock()
             self.ser = None
-            self.ser = serial.Serial(port)
-            self.ser.setTimeout(0.015)
-            self.ser.baudrate = baudrate
+            self.ser = serial.Serial(port, baudrate, timeout=0.015)
             self.port_name = port
             self.readback_echo = readback_echo
         except SerialOpenError:
diff --git a/dynamixel_driver/src/dynamixel_driver/dynamixel_serial_proxy.py b/dynamixel_driver/src/dynamixel_driver/dynamixel_serial_proxy.py
old mode 100755
new mode 100644