Hello firends, I have a python code that I have successfully had running on a ROS melodic installation for some time. Now that we've decided to switch over to the new ROS Noetic (since joy got added recently) any time I try to kick off this python node I get:

Traceback (most recent call last):
  File "/home/casey/mqs_control/devel/lib/xbee/mqs_xbee.py", line 15, in <module>
    exec(compile(fh.read(), python_script, 'exec'), context)
  File "/home/casey/mqs_control/src/xbee/scripts/mqs_xbee.py", line 39, in <module>
    xbee = XBee.XBee("/dev/ttyUSB0")
AttributeError: module 'XBee' has no attribute 'XBee'

I was certain that this code works for both python 2.7 and 3, and have tried all manner of file renaming, permissions, different import calls to no avail. Any help would be greatly appreciated!

Thanks in advance, M

mqs_xbee.py:

'''#!/usr/bin/env python'''
import rospy
import XBee
from time import sleep
from xbee.msg import cmd_ctrl
from rospy.numpy_msg import numpy_msg

''' 
This node subscribes for data being changed on cmd_ctrl
 and publishes it to the XBEE. Data is coming in as
 a properly ordered bytearray in cmd_ctrl.msg
'''
def callback(cmds):
    rospy.loginfo("Rx: %s", cmds)
    rospy.loginfo(type(cmds))

''' sends data over the xbee'''
def xbee_send(cmds):
    # sends the data on the 16 channels
    channels_byte = bytearray()
    channels_byte.extend(cmds.cmds)
    # sent=xbee.Send(bytearray(channels_byte))
    xbee.Send(bytearray(channels_byte))

def mqs_xbee():
    rospy.init_node('mqs_xbee', anonymous=True)
    # subscribe to cmd_ctrl
    rospy.Subscriber("cmds", numpy_msg(cmd_ctrl), xbee_send)
    # for debugging
    rospy.Subscriber("cmds", numpy_msg(cmd_ctrl), callback) 

    rospy.spin()

if __name__ == "__main__":
    xbee = XBee.XBee("/dev/ttyUSB0")
    mqs_xbee()'

XBee.py

import serial
from collections import deque


class XBee:
    RxBuff = bytearray()
    RxMessages = deque()

    def __init__(self, serialport, baudrate=115200):
        self.serial = serial.Serial(port=serialport, baudrate=baudrate)

    def Receive(self):
        """
            Recieves data from serial and checks buffer for potential messages/
            Returns the next message in the queue if available
        """
        remaining = self.serial.inWaiting()
        while remaining:
            chunk = self.serial.read(remaining)
            remaining -= len(chunk)
            self.RxBuff.extend(chunk)

            msgs = self.RxBuff.split(bytes(b'\x7E'))
            for msg in msgs[:-1]:
                self.validate(msg)

            self.RxBuff = (bytearray() if self.Validate(msgs[-1]) else msgs[-1])

            if self.RxMessages:
                return self.RxMessages.popleft()
            else:
                return None

    def Validate(self, msg):
        """
        Parses a byte or bytearray object to verify the contents are a properly formatted XBee message.

        Inputs: An incoming XBee message

        Outputs: True or False, indicating message validity
        """
        # 9 bytes is Minimum length to be a valid Rx frame
        # LSB, MSB,Type, Source Address(2), RSSI, Options, 1 byte data, checksum
        if (len(msg) - msg.count(bytes(b'0x7D'))) < 9:
            return False

        # All bytes in message must be unescaped before validating content
        frame = self.Unescape(msg)

        LSB = frame[1]
        # Frame (minus checksum) must contain at least length equal to LSB
        if LSB > (len(frame[2:]) - 1):
            return False

        # Validate checksum
        if (sum(frame[2:3 + LSB]) & 0xFF) != 0xFF:
            return False

        print("Rx: " + self.format(bytearray(b'\x7E') + msg))
        self.RxMessages.append ...