ros-arduino-dynamixel : serial error

edit

Hello, guys.

I'm trying to control dynamixel motors by using arduino and dynamixel shield with ros. I face an error. I think there are some communication problem. I remove and install rosserial-python. And check each code that i made. The problem is dynamixel motor control code.(If i delete 'problem code', it works well.) I don't know how to fix this communication problem.

Could i get some advice?

Thanks for your interest, Ray.

teminal code :

$ rosrun rosserial_python serial_node.py /dev/ttyACM0

Arduino loop Code:

void loop() { 
      // Motor control part
    motor(w_l, w_r);

  // Calc Position Part
ros::Time stamp_now = nh.now();
calcTime();

// calculate odometry
calcTick();                 // after this CalcTick => we have wheels` delta angle
calcOdom(step_time * 0.001);

// publish odometry
updateOdometry();
odom.header.stamp = stamp_now;
odom_pub.publish(&odom);

// publish odometry tf
updateTF(tf_);
tf_.header.stamp = stamp_now;
tf_broadcaster.sendTransform(tf_);
nh.spinOnce();

}

Problem code :

void motor(int Pulse_Width1, int Pulse_Width2){
    dxl.setGoalVelocity(LEFT_ID, Pulse_Width1); //0~1023
    dxl.setGoalVelocity(RIGHT_ID, Pulse_Width2); 
}

Error :

[ERROR] [1598239905.380172]: Mismatched protocol version in packet: lost sync or rosserial_python is from different ros release than the rosserial client
[INFO] [1598239905.380694]: Protocol version of client is Rev 0 (rosserial 0.4 and earlier), expected Rev 1 (rosserial 0.5+)