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In short: you're using Python 2, which the main distribution(s) of vcstool no longer support.

You'll either have to use Python 3 to run vcstool, or switch to the 0.2.x branch.

I'd suggest the former.

Note this is mentioned in the readme of vcstool:

Python 2.7 / <= 3.4 support

The latest version supporting Python 2.7 and Python <= 3.4 is 0.2.x from the 0.2.x branch.

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