Solved a problem when changing the baudrate. The current solution has to be improved.

src/dynamixelserver.cpp

@@ -64,8 +64,8 @@ unsigned char CDynamixelServer::compute_checksum(unsigned char *packet,int len)
     {
       for(i=2;i<len;i++)
         checksum+=packet[i];
-      checksum=~checksum;
       checksum=checksum%256;
+      checksum=~checksum;
     }
   }
 
@@ -415,6 +415,7 @@ void CDynamixelServer::set_baudrate(int baudrate)
           delete[] packet;
           this->dynamixel_access.exit();
         }
+        sleep(1);
         /* reconfigure the communciations device */
         ftdi_config.word_length=8;
         ftdi_config.stop_bits=1;