diff --git a/python/rtm.py b/python/rtm.py
index ad6600b306d..b6360f25f5b 100644
--- a/python/rtm.py
+++ b/python/rtm.py
@@ -391,7 +391,10 @@ def getManagerDirectly(hostname, mgr=None):
             mgr = None
         return mgr
 
-    import CORBA
+    try:
+        import CORBA
+    except:
+        print('import CORBA failed in findRTCmanager and neglect it for old python environment.')
     # fqdn
     mgr = None
     hostnames = [hostname, hostname.split(".")[0],
diff --git a/rtc/ServoController/CMakeLists.txt b/rtc/ServoController/CMakeLists.txt
index 30cb60a82d0..09e1ca63846 100644
--- a/rtc/ServoController/CMakeLists.txt
+++ b/rtc/ServoController/CMakeLists.txt
@@ -1,5 +1,20 @@
 set(comp_sources ServoController.cpp ServoControllerService_impl.cpp)
 set(libs hrpModel-3.1 hrpCollision-3.1 hrpUtil-3.1 hrpsysBaseStub)
+if (CMAKE_COMPILER_IS_GNUCC)
+    execute_process(COMMAND ${CMAKE_C_COMPILER} -dumpversion
+                    OUTPUT_VARIABLE GCC_VERSION)
+    string(REGEX MATCHALL "[0-9]+" GCC_VERSION_COMPONENTS
+    ${GCC_VERSION})
+    list(GET GCC_VERSION_COMPONENTS 0 GCC_MAJOR)
+    list(GET GCC_VERSION_COMPONENTS 1 GCC_MINOR)
+    if (GCC_VERSION VERSION_LESS 4.3)
+       message(STATUS "GCC version (${GCC_MAJOR}.${GCC_MINOR}) must be at least 4.3 for binary format in ServoSerial.h!")
+#    else()
+#       message(STATUS "HOGE GCC version must be at least 4.3 for binary format in ServoSerial.h! ${GCC_MAJOR} ${GCC_MINOR}")
+    endif()
+    add_definitions(-DDONOT_USE_BINARY_FORMAT)
+endif()
+
 add_library(ServoController SHARED ${comp_sources})
 target_link_libraries(ServoController ${libs})
 set_target_properties(ServoController PROPERTIES PREFIX "")
diff --git a/rtc/ServoController/ServoSerial.h b/rtc/ServoController/ServoSerial.h
index 6ef81736570..1985fc84742 100644
--- a/rtc/ServoController/ServoSerial.h
+++ b/rtc/ServoController/ServoSerial.h
@@ -290,22 +290,38 @@ class ServoSerial {
       ret = -1;
     }
 
+#ifdef DONOT_USE_BINARY_FORMAT
+    if ( flags & 0x0002 ) {
+#else
     if ( flags & 0b00000010 ) {
+#endif
       fprintf(stderr, "[ServoSerial] Failed to receive packet from servo(id:%d) Fail to process received packet\n", id);
       ret = -1;
     }
 
+#ifdef DONOT_USE_BINARY_FORMAT
+    if ( flags & 0x0008 ) {
+#else
     if ( flags & 0b00001000 ) {
+#endif
       fprintf(stderr, "[ServoSerial] Failed to receive packet from servo(id:%d) fail to write Flash ROM\n", id);
       ret = -1;
     }
 
+#ifdef DONOT_USE_BINARY_FORMAT
+    if ( flags & 0x0020 ) {
+#else
     if ( flags & 0b00100000 ) {
+#endif
       fprintf(stderr, "[ServoSerial] Failed to receive packet from servo(id:%d) temperature limit warning\n", id);
       ret = -1;
     }
 
+#ifdef DONOT_USE_BINARY_FORMAT
+    if ( flags & 0x0080 ) {
+#else
     if ( flags & 0b10000000 ) {
+#endif
       fprintf(stderr, "[ServoSerial] Failed to receive packet from servo(id:%d) Temperature limit error\n", id);
       ret = -1;
     }