diff --git a/src/baxter_interface/robot_enable.py b/src/baxter_interface/robot_enable.py
index 78bf45f..c12ef50 100644
--- a/src/baxter_interface/robot_enable.py
+++ b/src/baxter_interface/robot_enable.py
@@ -164,7 +164,7 @@ def reset(self):
                 timeout_msg=error_env,
                 body=pub.publish
             )
-        except OSError, e:
+        except OSError as e:
             if e.errno == errno.ETIMEDOUT:
                 if self._state.error == True and self._state.stopped == False:
                     rospy.logwarn(error_nonfatal)
diff --git a/src/joint_trajectory_action/joint_trajectory_action.py b/src/joint_trajectory_action/joint_trajectory_action.py
index 0b0ec42..862f02e 100644
--- a/src/joint_trajectory_action/joint_trajectory_action.py
+++ b/src/joint_trajectory_action/joint_trajectory_action.py
@@ -28,14 +28,16 @@
 """
 Baxter RSDK Joint Trajectory Action Server
 """
+from __future__ import absolute_import
+
 import bisect
 from copy import deepcopy
 import math
 import operator
 import numpy as np
 
-import bezier
-import minjerk
+from . import bezier
+from . import minjerk
 
 import rospy
 
@@ -58,6 +60,11 @@
 import baxter_interface
 
 
+# Python2's xrange equals Python3's range, and xrange is removed on Python3
+if not hasattr(__builtins__, 'xrange'):
+    xrange = range
+
+
 class JointTrajectoryActionServer(object):
     def __init__(self, limb, reconfig_server, rate=100.0,
                  mode='position_w_id', interpolation='bezier'):
@@ -203,28 +210,29 @@ def _update_feedback(self, cmd_point, jnt_names, cur_time):
         self._fdbk.desired.time_from_start = rospy.Duration.from_sec(cur_time)
         self._fdbk.actual.positions = self._get_current_position(jnt_names)
         self._fdbk.actual.time_from_start = rospy.Duration.from_sec(cur_time)
-        self._fdbk.error.positions = map(operator.sub,
-                                         self._fdbk.desired.positions,
-                                         self._fdbk.actual.positions
-                                        )
+        self._fdbk.error.positions = list(map(operator.sub,
+                                              self._fdbk.desired.positions,
+                                              self._fdbk.actual.positions
+                                             )
+                                         )
         self._fdbk.error.time_from_start = rospy.Duration.from_sec(cur_time)
         self._server.publish_feedback(self._fdbk)
 
     def _reorder_joints_ff_cmd(self, joint_names, point):
-	joint_name_order = self._limb.joint_names()
-	pnt = JointTrajectoryPoint()
-	pnt.time_from_start = point.time_from_start
-	pos_cmd = dict(zip(joint_names, point.positions))
-	for jnt_name in joint_name_order:
-	    pnt.positions.append(pos_cmd[jnt_name])
+        joint_name_order = self._limb.joint_names()
+        pnt = JointTrajectoryPoint()
+        pnt.time_from_start = point.time_from_start
+        pos_cmd = dict(zip(joint_names, point.positions))
+        for jnt_name in joint_name_order:
+            pnt.positions.append(pos_cmd[jnt_name])
         if point.velocities:
-	    vel_cmd = dict(zip(joint_names, point.velocities))
-	    for jnt_name in joint_name_order:
-	        pnt.velocities.append(vel_cmd[jnt_name])
+            vel_cmd = dict(zip(joint_names, point.velocities))
+            for jnt_name in joint_name_order:
+                pnt.velocities.append(vel_cmd[jnt_name])
         if point.accelerations:
-	    accel_cmd = dict(zip(joint_names, point.accelerations))
-	    for jnt_name in joint_name_order:
-	        pnt.accelerations.append(accel_cmd[jnt_name])
+            accel_cmd = dict(zip(joint_names, point.accelerations))
+            for jnt_name in joint_name_order:
+                pnt.accelerations.append(accel_cmd[jnt_name])
         return pnt
 
     def _command_stop(self, joint_names, joint_angles, start_time, dimensions_dict):