diff --git a/bindings/yarp.i b/bindings/yarp.i
index b9eb6b12197..e0b28260492 100644
--- a/bindings/yarp.i
+++ b/bindings/yarp.i
@@ -146,7 +146,7 @@
 #ifdef SWIGJAVA
     %rename(wait_c) *::wait();
     %rename(clone_c) *::clone() const;
-    %rename(toString_c) *::toString();
+    %rename(toString_c) *::toString() const;
 #endif
 
 #ifdef SWIGCHICKEN
diff --git a/doc/release/v3_0_0.md b/doc/release/v3_0_0.md
index 2c30c9a78db..8a1595b6382 100644
--- a/doc/release/v3_0_0.md
+++ b/doc/release/v3_0_0.md
@@ -108,6 +108,11 @@ Important Changes
   Note that `RateThread` used the period in msec(int), `PeriodicThread`
   requires the period in sec(double), so remember to consider a x1000 factor
   when migrate the code.
+* Several methods in public interfaces have a slightly different signature (see
+  #1738 for details).
+* It is now possible to write a `const Portable` on a `Port`.
+* `const Bytes` and `const ManagedBytes` can no longer return non-const pointers
+  to the underlying data.
 
 #### `YARP_dev`
 
@@ -182,6 +187,8 @@ Important Changes
   `IPositionDirect::setPositions(const int, const int*, const double*)`(#1351).
 * The file `yarp/dev/ControlBoardInterfacesImpl.inl` was renamed
   `yarp/dev/ControlBoardInterfacesImpl-inl.h`
+* Several methods in public interfaces have a slightly different signature (see
+  #1738 for details).
 
 #### `YARP_sig`
 
diff --git a/example/carrier/carrier_human.cpp b/example/carrier/carrier_human.cpp
index ec082681888..14d20b7f5f5 100644
--- a/example/carrier/carrier_human.cpp
+++ b/example/carrier/carrier_human.cpp
@@ -60,7 +60,7 @@ class HumanStream : public yarp::os::TwoWayStream, public yarp::os::InputStream,
     /////////////////////////////////////////////////
     // InputStream
 
-    virtual ssize_t read(const yarp::os::Bytes& b) {
+    virtual ssize_t read(yarp::os::Bytes& b) {
         if (interrupting) { return -1; }
         while (inputCache.size() < b.length()) {
             yInfo() <<"*** CHECK OTHER TERMINAL FOR SOMETHING TO TYPE:";
@@ -144,48 +144,48 @@ class HumanCarrier : public yarp::os::Carrier {
     /////////////////////////////////////////////////
     // First, the easy bits...
 
-    virtual yarp::os::Carrier *create() {
+    virtual yarp::os::Carrier *create() const {
         return new HumanCarrier();
     }
 
-    virtual std::string getName() {
+    virtual std::string getName() const {
         return "human";
     }
 
-    virtual bool isConnectionless() {
+    virtual bool isConnectionless() const {
         return true;
     }
 
-    virtual bool canAccept() {
+    virtual bool canAccept() const {
         return true;
     }
 
-    virtual bool canOffer() {
+    virtual bool canOffer() const {
         return true;
     }
 
-    virtual bool isTextMode() {
+    virtual bool isTextMode() const {
         // let's be text mode, for human-friendliness
         return true;
     }
 
-    virtual bool canEscape() {
+    virtual bool canEscape() const {
         return true;
     }
 
-    virtual bool requireAck() {
+    virtual bool requireAck() const {
         return true;
     }
 
-    virtual bool supportReply() {
+    virtual bool supportReply() const {
         return true;
     }
 
-    virtual bool isLocal() {
+    virtual bool isLocal() const {
         return false;
     }
 
-    virtual std::string toString() {
+    virtual std::string toString() const {
         return "humans are handy";
     }
 
diff --git a/example/carrier/carrier_stub.cpp b/example/carrier/carrier_stub.cpp
index cce05923218..a2042c77378 100644
--- a/example/carrier/carrier_stub.cpp
+++ b/example/carrier/carrier_stub.cpp
@@ -21,23 +21,28 @@
  * 8-bytes of a regular text mode connection.
  *
  */
-class TestCarrier : public yarp::os::impl::TextCarrier {
-    
+class TestCarrier : public yarp::os::impl::TextCarrier
+{
+
 public:
-    virtual std::string getName() {
+    virtual std::string getName() const override
+    {
         return "test";
     }
 
-    virtual std::string getSpecifierName() {
+    virtual std::string getSpecifierName() const override
+    {
         return "TESTTEST";
     }
 
-    virtual Carrier *create() {
+    virtual Carrier *create() const override
+    {
         return new TestCarrier();
     }
 };
 
-int main(int argc, char *argv[]) {
+int main(int argc, char *argv[])
+{
     yarp::os::Network yarp;
     yarp::os::Carriers::addCarrierPrototype(new TestCarrier);
 
diff --git a/example/idl/thrift/generated/include/firstInterface/PointQuality.h b/example/idl/thrift/generated/include/firstInterface/PointQuality.h
index ea621bf8f7b..25912065c73 100644
--- a/example/idl/thrift/generated/include/firstInterface/PointQuality.h
+++ b/example/idl/thrift/generated/include/firstInterface/PointQuality.h
@@ -22,7 +22,7 @@ namespace yarp {
 class yarp::test::PointQualityVocab : public yarp::os::idl::WireVocab {
 public:
   virtual int fromString(const std::string& input);
-  virtual std::string toString(int input);
+  virtual std::string toString(int input) const;
 };
 
 
diff --git a/example/os/playback.cpp b/example/os/playback.cpp
index 7d3ea0a6165..8ee3c0ab822 100644
--- a/example/os/playback.cpp
+++ b/example/os/playback.cpp
@@ -59,7 +59,7 @@ class Saver : public Portable {
         return reader.expectBlock(mem.get(),mem.length());
     }
 
-    virtual bool write(ConnectionWriter& writer) {
+    virtual bool write(ConnectionWriter& writer) const {
         if (mem.length()==0) {
             fprintf(stderr,"Nothing to write.\n");
             return false;
diff --git a/src/carriers/bayer_carrier/BayerCarrier.cpp b/src/carriers/bayer_carrier/BayerCarrier.cpp
index f411a3c05a7..1f17ae12173 100644
--- a/src/carriers/bayer_carrier/BayerCarrier.cpp
+++ b/src/carriers/bayer_carrier/BayerCarrier.cpp
@@ -97,7 +97,7 @@ yarp::os::ConnectionReader& BayerCarrier::modifyIncomingData(yarp::os::Connectio
     have_result = false;
     if (need_reset) {
         int m = DC1394_BAYER_METHOD_BILINEAR;
-        Searchable& config = reader.getConnectionModifiers();
+        const Searchable& config = reader.getConnectionModifiers();
         half = false;
         if (config.check("size")) {
             if (config.find("size").asString() == "half") {
@@ -293,6 +293,10 @@ bool BayerCarrier::debayerFull(yarp::sig::ImageOf<PixelMono>& src,
     return true;
 }
 
+bool BayerCarrier::processBuffered() const {
+    return const_cast<BayerCarrier*>(this)->processBuffered();
+}
+
 bool BayerCarrier::processBuffered() {
     if (!have_result) {
         //printf("Copy-based conversion.\n");
@@ -310,7 +314,7 @@ bool BayerCarrier::processBuffered() {
     return true;
 }
 
-bool BayerCarrier::processDirect(const yarp::os::Bytes& bytes) {
+bool BayerCarrier::processDirect(yarp::os::Bytes& bytes) {
     if (have_result) {
         memcpy(bytes.get(),out.getRawImage(),bytes.length());
         return true;
@@ -328,7 +332,7 @@ bool BayerCarrier::processDirect(const yarp::os::Bytes& bytes) {
 }
 
 
-yarp::conf::ssize_t BayerCarrier::read(const yarp::os::Bytes& b) {
+yarp::conf::ssize_t BayerCarrier::read(yarp::os::Bytes& b) {
     // copy across small stuff - the image header
     if (consumed<sizeof(header)) {
         size_t len = b.length();
diff --git a/src/carriers/bayer_carrier/BayerCarrier.h b/src/carriers/bayer_carrier/BayerCarrier.h
index 6adb49983aa..1d529aa3184 100644
--- a/src/carriers/bayer_carrier/BayerCarrier.h
+++ b/src/carriers/bayer_carrier/BayerCarrier.h
@@ -87,15 +87,15 @@ class yarp::os::BayerCarrier : public yarp::os::ModifyingCarrier,
         if (local) delete local;
     }
 
-    virtual Carrier *create() override {
+    virtual Carrier *create() const override {
         return new BayerCarrier();
     }
 
-    virtual std::string getName() override {
+    virtual std::string getName() const override {
         return "bayer";
     }
 
-    virtual std::string toString() override {
+    virtual std::string toString() const override {
         return "bayer_carrier";
     }
 
@@ -105,7 +105,7 @@ class yarp::os::BayerCarrier : public yarp::os::ModifyingCarrier,
     ////////////////////////////////////////////////////////////////////////
     // ConnectionReader methods
 
-    virtual bool expectBlock(const char *data, size_t len) override {
+    virtual bool expectBlock(char *data, size_t len) override {
         return local->expectBlock(data,len);
     }
 
@@ -141,11 +141,11 @@ class yarp::os::BayerCarrier : public yarp::os::ModifyingCarrier,
         return local->expectFloat64();
     }
 
-    virtual bool isTextMode() override {
+    virtual bool isTextMode() const override {
         return false;
     }
 
-    virtual bool isBareMode() override {
+    virtual bool isBareMode() const override {
         return false;
     }
 
@@ -153,7 +153,7 @@ class yarp::os::BayerCarrier : public yarp::os::ModifyingCarrier,
         return true;
     }
 
-    virtual size_t getSize() override {
+    virtual size_t getSize() const override {
         if (image_data_len) {
             processBuffered();
         }
@@ -168,27 +168,27 @@ class yarp::os::BayerCarrier : public yarp::os::ModifyingCarrier,
         return parent->readEnvelope();
     }
 
-    virtual Portable *getReference() override {
+    virtual Portable *getReference() const override {
         return parent->getReference();
     }
 
-    virtual Contact getRemoteContact() override {
+    virtual Contact getRemoteContact() const override {
         return parent->getRemoteContact();
     }
 
-    virtual Contact getLocalContact() override {
+    virtual Contact getLocalContact() const override {
         return parent->getLocalContact();
     }
 
-    virtual bool isValid() override {
+    virtual bool isValid() const override {
         return true;
     }
 
-    virtual bool isActive() override {
+    virtual bool isActive() const override {
         return parent->isActive();
     }
 
-    virtual bool isError() override {
+    virtual bool isError() const override {
         return parent->isError()||!happy;
     }
 
@@ -196,7 +196,7 @@ class yarp::os::BayerCarrier : public yarp::os::ModifyingCarrier,
         parent->requestDrop();
     }
 
-    virtual yarp::os::Searchable& getConnectionModifiers() override {
+    virtual const yarp::os::Searchable& getConnectionModifiers() const override {
         return parent->getConnectionModifiers();
     }
 
@@ -208,12 +208,12 @@ class yarp::os::BayerCarrier : public yarp::os::ModifyingCarrier,
     // InputStream methods
 
     using yarp::os::InputStream::read;
-    virtual yarp::conf::ssize_t read(const yarp::os::Bytes& b) override;
+    virtual yarp::conf::ssize_t read(yarp::os::Bytes& b) override;
 
     virtual void close() override {
     }
 
-    virtual bool isOk() override {
+    virtual bool isOk() const override {
         return happy;
     }
 
@@ -230,9 +230,17 @@ class yarp::os::BayerCarrier : public yarp::os::ModifyingCarrier,
     virtual bool debayerHalf(yarp::sig::ImageOf<yarp::sig::PixelMono>& src,
                              yarp::sig::ImageOf<yarp::sig::PixelRgb>& dest);
 
+    /*
+     * The const version of the processBuffered() method performs a const_cast,
+     * and calls the non-const version. This allows to call it in const methods.
+     * Conceptually this is not completely wrong because it does not modify
+     * the external state of the class, but just some internal representation.
+     */
+    virtual bool processBuffered() const;
+
     virtual bool processBuffered();
 
-    virtual bool processDirect(const yarp::os::Bytes& bytes);
+    virtual bool processDirect(yarp::os::Bytes& bytes);
 
 };
 
diff --git a/src/carriers/h264_carrier/H264Carrier.cpp b/src/carriers/h264_carrier/H264Carrier.cpp
index 8a0fc5f968d..ac5d245a036 100644
--- a/src/carriers/h264_carrier/H264Carrier.cpp
+++ b/src/carriers/h264_carrier/H264Carrier.cpp
@@ -21,32 +21,32 @@ using namespace yarp::sig;
 
 
 
-std::string H264Carrier::getName()
+std::string H264Carrier::getName() const
 {
     return "h264";
 }
 
-bool H264Carrier::isConnectionless()
+bool H264Carrier::isConnectionless() const
 {
     return true;
 }
 
-bool H264Carrier::canAccept()
+bool H264Carrier::canAccept() const
 {
     return true;
 }
 
-bool H264Carrier::canOffer()
+bool H264Carrier::canOffer() const
 {
     return true;
 }
 
-bool H264Carrier::isTextMode()
+bool H264Carrier::isTextMode() const
 {
     return false;
 }
 
-bool H264Carrier::canEscape()
+bool H264Carrier::canEscape() const
 {
     return false;
 }
@@ -56,33 +56,33 @@ void H264Carrier::handleEnvelope(const std::string& envelope)
     this->envelope = envelope;
 }
 
-bool H264Carrier::requireAck()
+bool H264Carrier::requireAck() const
 {
     return false;
 }
 
-bool H264Carrier::supportReply()
+bool H264Carrier::supportReply() const
 {
     return false;
 }
 
-bool H264Carrier::isLocal()
+bool H264Carrier::isLocal() const
 {
     return false;
 }
 
 // this is important - flips expected flow of messages
-bool H264Carrier::isPush()
+bool H264Carrier::isPush() const
 {
     return false;
 }
 
-std::string H264Carrier::toString()
+std::string H264Carrier::toString() const
 {
     return "h264_carrier";
 }
 
-void H264Carrier::getHeader(const Bytes& header)
+void H264Carrier::getHeader(Bytes& header) const
 {
 }
 
@@ -177,7 +177,7 @@ bool H264Carrier::expectReplyToHeader(ConnectionState& proto)
     return true;
 }
 
-bool H264Carrier::isActive()
+bool H264Carrier::isActive() const
 {
     return true;
 }
@@ -213,12 +213,12 @@ bool H264Carrier::expectAck(ConnectionState& proto)
     return true;
 }
 
-std::string H264Carrier::getBootstrapCarrierName()
+std::string H264Carrier::getBootstrapCarrierName() const
 {
     return "";
 }
 
-yarp::os::Face* H264Carrier::createFace(void)
+yarp::os::Face* H264Carrier::createFace(void) const
 {
     return new yarp::os::impl::FakeFace();
 }
diff --git a/src/carriers/h264_carrier/H264Carrier.h b/src/carriers/h264_carrier/H264Carrier.h
index 5c413c39c37..e3d66c4e798 100644
--- a/src/carriers/h264_carrier/H264Carrier.h
+++ b/src/carriers/h264_carrier/H264Carrier.h
@@ -48,37 +48,37 @@ class yarp::os::H264Carrier : public Carrier
     H264Carrier()
     {;}
 
-    virtual Carrier *create() override
+    virtual Carrier *create() const override
     {
         return new H264Carrier();
     }
 
-    virtual std::string getName() override;
+    virtual std::string getName() const override;
 
-    virtual bool isConnectionless() override;
+    virtual bool isConnectionless() const override;
 
-    virtual bool canAccept() override;
+    virtual bool canAccept() const override;
 
-    virtual bool canOffer() override;
+    virtual bool canOffer() const override;
 
-    virtual bool isTextMode() override;
+    virtual bool isTextMode() const override;
 
-    virtual bool canEscape() override;
+    virtual bool canEscape() const override;
 
     virtual void handleEnvelope(const std::string& envelope) override;
 
-    virtual bool requireAck() override;
+    virtual bool requireAck() const override;
 
-    virtual bool supportReply() override;
+    virtual bool supportReply() const override;
 
-    virtual bool isLocal() override;
+    virtual bool isLocal() const override;
 
     // this is important - flips expected flow of messages
-    virtual bool isPush() override;
+    virtual bool isPush() const override;
 
-    virtual std::string toString() override;
+    virtual std::string toString() const override;
 
-    virtual void getHeader(const Bytes& header) override;
+    virtual void getHeader(Bytes& header) const override;
 
     virtual bool checkHeader(const Bytes& header) override;
 
@@ -99,7 +99,7 @@ class yarp::os::H264Carrier : public Carrier
 
     virtual bool expectReplyToHeader(ConnectionState& proto) override;
 
-    virtual bool isActive() override;
+    virtual bool isActive() const override;
 
 
     // Payload time!
@@ -116,9 +116,9 @@ class yarp::os::H264Carrier : public Carrier
 
     virtual bool expectAck(ConnectionState& proto) override;
 
-    virtual std::string getBootstrapCarrierName() override;
+    virtual std::string getBootstrapCarrierName() const override;
 
-    virtual yarp::os::Face* createFace(void) override;
+    virtual yarp::os::Face* createFace(void) const override;
 
 };
 
diff --git a/src/carriers/h264_carrier/H264Stream.cpp b/src/carriers/h264_carrier/H264Stream.cpp
index 83df2465377..4361c6e64fc 100644
--- a/src/carriers/h264_carrier/H264Stream.cpp
+++ b/src/carriers/h264_carrier/H264Stream.cpp
@@ -91,7 +91,7 @@ bool H264Stream::setReadEnvelopeCallback(InputStream::readEnvelopeCallbackType c
     return true;
 }
 
-yarp::conf::ssize_t H264Stream::read(const Bytes& b)
+yarp::conf::ssize_t H264Stream::read(Bytes& b)
 {
 
 #ifdef debug_time
diff --git a/src/carriers/h264_carrier/H264Stream.h b/src/carriers/h264_carrier/H264Stream.h
index 35985c5faec..2c2a979efb7 100644
--- a/src/carriers/h264_carrier/H264Stream.h
+++ b/src/carriers/h264_carrier/H264Stream.h
@@ -54,7 +54,7 @@ class yarp::os::H264Stream : public yarp::os::impl::DgramTwoWayStream
     virtual void write(const Bytes& b) override;
 
     using yarp::os::InputStream::read;
-    virtual yarp::conf::ssize_t read(const Bytes& b) override;
+    virtual yarp::conf::ssize_t read(Bytes& b) override;
 
     virtual bool setReadEnvelopeCallback(InputStream::readEnvelopeCallbackType callback, void* data) override;
 
diff --git a/src/carriers/human_carrier/HumanCarrier.h b/src/carriers/human_carrier/HumanCarrier.h
index fdd3ee1e8ee..fb2bfaeaeee 100644
--- a/src/carriers/human_carrier/HumanCarrier.h
+++ b/src/carriers/human_carrier/HumanCarrier.h
@@ -14,52 +14,52 @@ class HumanCarrier : public Carrier {
 
     // First, the easy bits...
 
-    virtual Carrier *create() override {
+    virtual Carrier *create() const override {
         return new HumanCarrier();
     }
 
-    virtual std::string getName() override {
+    virtual std::string getName() const override {
         return "human";
     }
 
-    virtual bool isConnectionless() override {
+    virtual bool isConnectionless() const override {
         return true;
     }
 
-    virtual bool canAccept() override {
+    virtual bool canAccept() const override {
         return true;
     }
 
-    virtual bool canOffer() override {
+    virtual bool canOffer() const override {
         return true;
     }
 
-    virtual bool isTextMode() override {
+    virtual bool isTextMode() const override {
         // let's be text mode, for human-friendliness
         return true;
     }
 
-    virtual bool canEscape() override {
+    virtual bool canEscape() const override {
         return true;
     }
 
-    virtual bool requireAck() override {
+    virtual bool requireAck() const override {
         return true;
     }
 
-    virtual bool supportReply() override {
+    virtual bool supportReply() const override {
         return true;
     }
 
-    virtual bool isLocal() override {
+    virtual bool isLocal() const override {
         return false;
     }
 
-    virtual std::string toString() override {
+    virtual std::string toString() const override {
         return "humans are handy";
     }
 
-    virtual void getHeader(const Bytes& header) override {
+    virtual void getHeader(Bytes& header) const override {
         const char *target = "HUMANITY";
         for (size_t i=0; i<8 && i<header.length(); i++) {
             header.get()[i] = target[i];
@@ -122,7 +122,7 @@ class HumanCarrier : public Carrier {
         return true;
     }
 
-    virtual bool isActive() override {
+    virtual bool isActive() const override {
         return true;
     }
 
diff --git a/src/carriers/human_carrier/HumanStream.cpp b/src/carriers/human_carrier/HumanStream.cpp
index 1adf8751308..8e4514ff20b 100644
--- a/src/carriers/human_carrier/HumanStream.cpp
+++ b/src/carriers/human_carrier/HumanStream.cpp
@@ -10,7 +10,7 @@
 #include <cstring>
 #include "HumanStream.h"
 
-yarp::conf::ssize_t HumanStream::read(const Bytes& b) {
+yarp::conf::ssize_t HumanStream::read(Bytes& b) {
     if (interrupting) { return -1; }
     while (inputCache.size() < (unsigned int)b.length()) {
         std::cout << "*** CHECK OTHER TERMINAL FOR SOMETHING TO TYPE:"
diff --git a/src/carriers/human_carrier/HumanStream.h b/src/carriers/human_carrier/HumanStream.h
index 14d5b83bc43..40449500896 100644
--- a/src/carriers/human_carrier/HumanStream.h
+++ b/src/carriers/human_carrier/HumanStream.h
@@ -34,7 +34,7 @@ class HumanStream : public TwoWayStream, public InputStream, public OutputStream
         std::cout << "Bye bye" << std::endl;
     }
 
-    virtual bool isOk() override {
+    virtual bool isOk() const override {
         return true;
     }
 
@@ -50,7 +50,7 @@ class HumanStream : public TwoWayStream, public InputStream, public OutputStream
 
     // InputStream
     using yarp::os::InputStream::read;
-    virtual yarp::conf::ssize_t read(const Bytes& b) override;
+    virtual yarp::conf::ssize_t read(Bytes& b) override;
 
     // OutputStream
     using yarp::os::OutputStream::write;
@@ -66,12 +66,12 @@ class HumanStream : public TwoWayStream, public InputStream, public OutputStream
         return *this;
     }
 
-    virtual const yarp::os::Contact& getLocalAddress() override {
+    virtual const yarp::os::Contact& getLocalAddress() const override {
         // left undefined
         return local;
     }
 
-    virtual const yarp::os::Contact& getRemoteAddress() override {
+    virtual const yarp::os::Contact& getRemoteAddress() const override {
         // left undefined
         return remote;
     }
diff --git a/src/carriers/mjpeg_carrier/MjpegCarrier.h b/src/carriers/mjpeg_carrier/MjpegCarrier.h
index 7fa2b9c5388..5c3655a184e 100644
--- a/src/carriers/mjpeg_carrier/MjpegCarrier.h
+++ b/src/carriers/mjpeg_carrier/MjpegCarrier.h
@@ -51,31 +51,31 @@ class yarp::os::MjpegCarrier : public Carrier {
         sender = false;
     }
 
-    virtual Carrier *create() override {
+    virtual Carrier *create() const override {
         return new MjpegCarrier();
     }
 
-    virtual std::string getName() override {
+    virtual std::string getName() const override {
         return "mjpeg";
     }
 
-    virtual bool isConnectionless() override {
+    virtual bool isConnectionless() const override {
         return false;
     }
 
-    virtual bool canAccept() override {
+    virtual bool canAccept() const override {
         return true;
     }
 
-    virtual bool canOffer() override {
+    virtual bool canOffer() const override {
         return true;
     }
 
-    virtual bool isTextMode() override {
+    virtual bool isTextMode() const override {
         return false;
     }
 
-    virtual bool canEscape() override {
+    virtual bool canEscape() const override {
         return false;
     }
 
@@ -83,28 +83,28 @@ class yarp::os::MjpegCarrier : public Carrier {
         this->envelope = envelope;
     }
 
-    virtual bool requireAck() override {
+    virtual bool requireAck() const override {
         return false;
     }
 
-    virtual bool supportReply() override {
+    virtual bool supportReply() const override {
         return false;
     }
 
-    virtual bool isLocal() override {
+    virtual bool isLocal() const override {
         return false;
     }
 
     // this is important - flips expected flow of messages
-    virtual bool isPush() override {
+    virtual bool isPush() const override {
         return false;
     }
 
-    virtual std::string toString() override {
+    virtual std::string toString() const override {
         return "mjpeg_carrier";
     }
 
-    virtual void getHeader(const Bytes& header) override {
+    virtual void getHeader(Bytes& header) const override {
         // GET /?action=stream HTTP/1.1
         const char *target = "GET /?ac";
         for (size_t i=0; i<8 && i<header.length(); i++) {
@@ -185,7 +185,7 @@ Content-Type: multipart/x-mixed-replace;boundary=boundarydonotcross\r\n\
         return true;
     }
 
-    virtual bool isActive() override {
+    virtual bool isActive() const override {
         return true;
     }
 
@@ -212,7 +212,7 @@ Content-Type: multipart/x-mixed-replace;boundary=boundarydonotcross\r\n\
         return true;
     }
 
-    virtual std::string getBootstrapCarrierName() override { return ""; }
+    virtual std::string getBootstrapCarrierName() const override { return ""; }
 
     virtual bool autoCompression() const;
 };
diff --git a/src/carriers/mjpeg_carrier/MjpegDecompression.cpp b/src/carriers/mjpeg_carrier/MjpegDecompression.cpp
index 13770e8ab16..d5c9738db48 100644
--- a/src/carriers/mjpeg_carrier/MjpegDecompression.cpp
+++ b/src/carriers/mjpeg_carrier/MjpegDecompression.cpp
@@ -158,7 +158,7 @@ class MjpegDecompressionHelper {
             return false;
         }
 
-        jpeg_net_src(&cinfo,cimg.get(),cimg.length());
+        jpeg_net_src(&cinfo,(char*)cimg.get(),cimg.length());
         jpeg_save_markers(&cinfo, JPEG_COM, 0xFFFF);
         jpeg_read_header(&cinfo, TRUE);
         jpeg_calc_output_dimensions(&cinfo);
diff --git a/src/carriers/mjpeg_carrier/MjpegStream.cpp b/src/carriers/mjpeg_carrier/MjpegStream.cpp
index 5266b506282..ac1aadf2b36 100644
--- a/src/carriers/mjpeg_carrier/MjpegStream.cpp
+++ b/src/carriers/mjpeg_carrier/MjpegStream.cpp
@@ -21,7 +21,7 @@ using namespace yarp::sig;
 using namespace yarp::mjpeg;
 using namespace std;
 
-yarp::conf::ssize_t MjpegStream::read(const Bytes& b) {
+yarp::conf::ssize_t MjpegStream::read(Bytes& b) {
     bool debug = false;
     if (remaining==0) {
         if (phase==1) {
diff --git a/src/carriers/mjpeg_carrier/MjpegStream.h b/src/carriers/mjpeg_carrier/MjpegStream.h
index 4ddd9871eed..d46555cab7e 100644
--- a/src/carriers/mjpeg_carrier/MjpegStream.h
+++ b/src/carriers/mjpeg_carrier/MjpegStream.h
@@ -67,15 +67,15 @@ class yarp::os::MjpegStream : public TwoWayStream,
     virtual OutputStream& getOutputStream() override { return *this; }
 
 
-    virtual const Contact& getLocalAddress() override {
+    virtual const Contact& getLocalAddress() const override {
         return delegate->getLocalAddress();
     }
 
-    virtual const Contact& getRemoteAddress() override {
+    virtual const Contact& getRemoteAddress() const override {
         return delegate->getRemoteAddress();
     }
 
-    virtual bool isOk() override {
+    virtual bool isOk() const override {
         return delegate->isOk();
     }
 
@@ -99,7 +99,7 @@ class yarp::os::MjpegStream : public TwoWayStream,
     virtual void write(const Bytes& b) override;
 
     using yarp::os::InputStream::read;
-    virtual yarp::conf::ssize_t read(const Bytes& b) override;
+    virtual yarp::conf::ssize_t read(Bytes& b) override;
 
     virtual void interrupt() override {
         delegate->getInputStream().interrupt();
diff --git a/src/carriers/mpi_carrier/include/yarp/os/MpiBcastCarrier.h b/src/carriers/mpi_carrier/include/yarp/os/MpiBcastCarrier.h
index 4e2e4565966..5d5232fca31 100644
--- a/src/carriers/mpi_carrier/include/yarp/os/MpiBcastCarrier.h
+++ b/src/carriers/mpi_carrier/include/yarp/os/MpiBcastCarrier.h
@@ -48,21 +48,21 @@ class yarp::os::MpiBcastCarrier : public MpiCarrier {
 
     virtual void close() override;
 
-    virtual Carrier *create() override {
+    virtual Carrier *create() const override {
         return new MpiBcastCarrier();
     }
 
     virtual void createStream(bool sender) override;
 
-    virtual std::string getName() override {
+    virtual std::string getName() const override {
         return "bcast";
     }
 
-    virtual bool supportReply() override {
+    virtual bool supportReply() const override {
         return false;
     }
 
-    virtual bool isBroadcast() override {
+    virtual bool isBroadcast() const override {
         return true;
     }
 
@@ -76,9 +76,9 @@ class yarp::os::MpiBcastCarrier : public MpiCarrier {
         return ok;
     }
 
-    virtual bool isActive() override;
+    virtual bool isActive() const override;
 
-    virtual bool isElect();
+    virtual bool isElect() const;
 };
 
 #endif //_YARP_MPIBCASTCARRIER_
diff --git a/src/carriers/mpi_carrier/include/yarp/os/MpiBcastStream.h b/src/carriers/mpi_carrier/include/yarp/os/MpiBcastStream.h
index b8e46b990dd..0b7d78d95e2 100644
--- a/src/carriers/mpi_carrier/include/yarp/os/MpiBcastStream.h
+++ b/src/carriers/mpi_carrier/include/yarp/os/MpiBcastStream.h
@@ -39,7 +39,7 @@ class yarp::os::MpiBcastStream : public MpiStream {
     using MpiStream::write;
     using MpiStream::read;
 
-    ssize_t read(const Bytes& b) override;
+    ssize_t read(Bytes& b) override;
     void write(const Bytes& b) override;
     void startJoin();
     void post() {
diff --git a/src/carriers/mpi_carrier/include/yarp/os/MpiCarrier.h b/src/carriers/mpi_carrier/include/yarp/os/MpiCarrier.h
index 2d2ac3e12c2..60f8a756d45 100644
--- a/src/carriers/mpi_carrier/include/yarp/os/MpiCarrier.h
+++ b/src/carriers/mpi_carrier/include/yarp/os/MpiCarrier.h
@@ -41,23 +41,23 @@ class yarp::os::MpiCarrier : public AbstractCarrier {
     MpiCarrier() ;
     virtual ~MpiCarrier();
     virtual void close() override = 0;
-    virtual Carrier *create() override = 0;
-    virtual std::string getName() override = 0;
+    virtual Carrier *create() const override = 0;
+    virtual std::string getName() const override = 0;
 
     virtual void createStream(bool sender) = 0;
 
-    virtual bool isConnectionless() override {
+    virtual bool isConnectionless() const override {
         return false;
     }
 
-    virtual bool canEscape() override {
+    virtual bool canEscape() const override {
         return true;
     }
 
-    virtual bool supportReply() override = 0;
+    virtual bool supportReply() const override = 0;
 
 
-    virtual void getHeader(const Bytes& header) override;
+    virtual void getHeader(Bytes& header) const override;
     virtual bool checkHeader(const Bytes& header) override;
 
 
diff --git a/src/carriers/mpi_carrier/include/yarp/os/MpiP2PCarrier.h b/src/carriers/mpi_carrier/include/yarp/os/MpiP2PCarrier.h
index 6705e2042db..90b8aee2e13 100644
--- a/src/carriers/mpi_carrier/include/yarp/os/MpiP2PCarrier.h
+++ b/src/carriers/mpi_carrier/include/yarp/os/MpiP2PCarrier.h
@@ -44,7 +44,7 @@ class yarp::os::MpiP2PCarrier : public MpiCarrier {
         delete comm;
     }
 
-    virtual Carrier *create() override {
+    virtual Carrier *create() const override {
         return new MpiP2PCarrier();
     }
 
@@ -53,11 +53,11 @@ class yarp::os::MpiP2PCarrier : public MpiCarrier {
         stream = new MpiP2PStream(route, comm);
     }
 
-    virtual std::string getName() override {
+    virtual std::string getName() const override {
         return "mpi";
     }
 
-    virtual bool supportReply() override {
+    virtual bool supportReply() const override {
         return true;
     }
 };
diff --git a/src/carriers/mpi_carrier/include/yarp/os/MpiP2PStream.h b/src/carriers/mpi_carrier/include/yarp/os/MpiP2PStream.h
index 430b1344aec..1e100774f84 100644
--- a/src/carriers/mpi_carrier/include/yarp/os/MpiP2PStream.h
+++ b/src/carriers/mpi_carrier/include/yarp/os/MpiP2PStream.h
@@ -29,7 +29,7 @@ class yarp::os::MpiP2PStream : public MpiStream {
     using MpiStream::write;
     using MpiStream::read;
 
-    ssize_t read(const Bytes& b) override;
+    ssize_t read(Bytes& b) override;
     void write(const Bytes& b) override;
     void close() override {
         #ifdef MPI_DEBUG
diff --git a/src/carriers/mpi_carrier/include/yarp/os/MpiStream.h b/src/carriers/mpi_carrier/include/yarp/os/MpiStream.h
index a809af9808c..a1cd84fe037 100644
--- a/src/carriers/mpi_carrier/include/yarp/os/MpiStream.h
+++ b/src/carriers/mpi_carrier/include/yarp/os/MpiStream.h
@@ -50,14 +50,14 @@ class yarp::os::MpiStream : public TwoWayStream, public InputStream, public Outp
     using yarp::os::InputStream::read;
 
     virtual void close() override = 0;
-    virtual bool isOk() override;
+    virtual bool isOk() const override;
     virtual void interrupt() override;
-    virtual ssize_t read(const Bytes& b) override = 0;
+    virtual ssize_t read(Bytes& b) override = 0;
     virtual void write(const Bytes& b) override = 0;
     virtual InputStream& getInputStream() override;
     virtual OutputStream& getOutputStream() override;
-    virtual const yarp::os::Contact& getLocalAddress() override;
-    virtual const yarp::os::Contact& getRemoteAddress() override;
+    virtual const yarp::os::Contact& getLocalAddress() const override;
+    virtual const yarp::os::Contact& getRemoteAddress() const override;
     void resetBuffer();
     virtual void reset() override { resetBuffer();}
     virtual void beginPacket() override;
diff --git a/src/carriers/mpi_carrier/src/MpiBcastCarrier.cpp b/src/carriers/mpi_carrier/src/MpiBcastCarrier.cpp
index 1aa5d1794e1..ca31b31750e 100644
--- a/src/carriers/mpi_carrier/src/MpiBcastCarrier.cpp
+++ b/src/carriers/mpi_carrier/src/MpiBcastCarrier.cpp
@@ -97,12 +97,12 @@ ElectionOf<yarp::os::PeerRecord<MpiBcastCarrier> >& MpiBcastCarrier::getCaster()
     }
     return *caster;
 }
-bool MpiBcastCarrier::isElect() {
+bool MpiBcastCarrier::isElect() const {
     MpiBcastCarrier *elect = getCaster().getElect(name);
     return elect==this || elect==NULL;
 }
 
-bool MpiBcastCarrier::isActive() {
+bool MpiBcastCarrier::isActive() const {
     return isElect();
 }
 
diff --git a/src/carriers/mpi_carrier/src/MpiBcastStream.cpp b/src/carriers/mpi_carrier/src/MpiBcastStream.cpp
index 5c177dee06f..8f701a925d4 100644
--- a/src/carriers/mpi_carrier/src/MpiBcastStream.cpp
+++ b/src/carriers/mpi_carrier/src/MpiBcastStream.cpp
@@ -51,7 +51,7 @@ void MpiBcastStream::execCmd(int cmd) {
 /////////////////////////////////////////////////
 // InputStream
 
-ssize_t MpiBcastStream::read(const Bytes& b) {
+ssize_t MpiBcastStream::read(Bytes& b) {
     if (terminate) {
       return -1;
     }
@@ -115,7 +115,7 @@ void MpiBcastStream::write(const Bytes& b) {
     #endif
     int size = b.length();
     MPI_Bcast(&size, 1, MPI_INT, 0, comm->comm );
-    MPI_Bcast(b.get(), size, MPI_BYTE, 0, comm->comm );
+    MPI_Bcast((void*)b.get(), size, MPI_BYTE, 0, comm->comm );
     comm->sema.post();
 
     #ifdef MPI_DEBUG
diff --git a/src/carriers/mpi_carrier/src/MpiCarrier.cpp b/src/carriers/mpi_carrier/src/MpiCarrier.cpp
index 932ff7ba84b..d4c493e6769 100644
--- a/src/carriers/mpi_carrier/src/MpiCarrier.cpp
+++ b/src/carriers/mpi_carrier/src/MpiCarrier.cpp
@@ -30,7 +30,7 @@ MpiCarrier::~MpiCarrier() {
     #endif
 }
 
-void  MpiCarrier::getHeader(const Bytes& header) {
+void  MpiCarrier::getHeader(Bytes& header) const {
     for (size_t i=0; i<8 && i<header.length(); i++) {
         header.get()[i] = target.c_str()[i];
     }
diff --git a/src/carriers/mpi_carrier/src/MpiP2PStream.cpp b/src/carriers/mpi_carrier/src/MpiP2PStream.cpp
index 280baa5907e..f5cb8367fb9 100644
--- a/src/carriers/mpi_carrier/src/MpiP2PStream.cpp
+++ b/src/carriers/mpi_carrier/src/MpiP2PStream.cpp
@@ -15,7 +15,7 @@ using namespace yarp::os;
 /////////////////////////////////////////////////
 // InputStream
 
-ssize_t MpiP2PStream::read(const Bytes& b) {
+ssize_t MpiP2PStream::read(Bytes& b) {
     if (readAvail == 0) {
         // get new data
         reset();
diff --git a/src/carriers/mpi_carrier/src/MpiStream.cpp b/src/carriers/mpi_carrier/src/MpiStream.cpp
index 7ba4aa461cc..94873306f13 100644
--- a/src/carriers/mpi_carrier/src/MpiStream.cpp
+++ b/src/carriers/mpi_carrier/src/MpiStream.cpp
@@ -36,7 +36,7 @@ void MpiStream::resetBuffer() {
     readBuffer = NULL;
 }
 
-bool MpiStream::isOk() {
+bool MpiStream::isOk() const {
     return !terminate;
 }
 
@@ -56,11 +56,11 @@ InputStream& MpiStream::getInputStream() {
 yarp::os::OutputStream& MpiStream::getOutputStream() {
     return *this;
 }
-const yarp::os::Contact& MpiStream::getLocalAddress() {
+const yarp::os::Contact& MpiStream::getLocalAddress() const {
     // left undefined
     return local;
 }
-const yarp::os::Contact& MpiStream::getRemoteAddress() {
+const yarp::os::Contact& MpiStream::getRemoteAddress() const {
     // left undefined
     return remote;
 }
diff --git a/src/carriers/portmonitor_carrier/PortMonitor.cpp b/src/carriers/portmonitor_carrier/PortMonitor.cpp
index 13181015641..4f0da45020d 100644
--- a/src/carriers/portmonitor_carrier/PortMonitor.cpp
+++ b/src/carriers/portmonitor_carrier/PortMonitor.cpp
@@ -99,7 +99,7 @@ void PortMonitor::setCarrierParams(const yarp::os::Property& params)
     PortMonitor::unlock();
 }
 
-void PortMonitor::getCarrierParams(yarp::os::Property& params)
+void PortMonitor::getCarrierParams(yarp::os::Property& params) const
 {
     if(!bReady) return;
     PortMonitor::lock();
@@ -174,7 +174,7 @@ bool PortMonitor::acceptIncomingData(yarp::os::ConnectionReader& reader)
 }
 
 
-yarp::os::PortWriter& PortMonitor::modifyOutgoingData(yarp::os::PortWriter& writer)
+const yarp::os::PortWriter& PortMonitor::modifyOutgoingData(const yarp::os::PortWriter& writer)
 {
     if(!bReady) return writer;
 
@@ -184,13 +184,13 @@ yarp::os::PortWriter& PortMonitor::modifyOutgoingData(yarp::os::PortWriter& writ
 
     PortMonitor::lock();
     thing.reset();
-    thing.setPortWriter(&writer);
+    thing.setPortWriter(const_cast<yarp::os::PortWriter*>(&writer));
     yarp::os::Things& result = binder->updateData(thing);
     PortMonitor::unlock();
     return *result.getPortWriter();
 }
 
-bool PortMonitor::acceptOutgoingData(yarp::os::PortWriter& writer)
+bool PortMonitor::acceptOutgoingData(const yarp::os::PortWriter& writer)
 {
     if(!bReady) return false;
 
@@ -200,7 +200,7 @@ bool PortMonitor::acceptOutgoingData(yarp::os::PortWriter& writer)
 
     PortMonitor::lock();
     yarp::os::Things thing;
-    thing.setPortWriter(&writer);
+    thing.setPortWriter(const_cast<yarp::os::PortWriter*>(&writer));
     bool result = binder->acceptData(thing);
     PortMonitor::unlock();
     return result;
diff --git a/src/carriers/portmonitor_carrier/PortMonitor.h b/src/carriers/portmonitor_carrier/PortMonitor.h
index 093390f82a5..87a3d39a952 100644
--- a/src/carriers/portmonitor_carrier/PortMonitor.h
+++ b/src/carriers/portmonitor_carrier/PortMonitor.h
@@ -75,15 +75,15 @@ class yarp::os::PortMonitor : public yarp::os::ModifyingCarrier
         if (binder) delete binder;
     }
 
-    virtual Carrier *create() override {
+    virtual Carrier *create() const override {
         return new PortMonitor();
     }
 
-    virtual std::string getName() override {
+    virtual std::string getName() const override {
         return "portmonitor";
     }
 
-    virtual std::string toString() override {
+    virtual std::string toString() const override {
         return "portmonitor_carrier";
     }
 
@@ -95,19 +95,19 @@ class yarp::os::PortMonitor : public yarp::os::ModifyingCarrier
 
     virtual yarp::os::ConnectionReader& modifyIncomingData(yarp::os::ConnectionReader& reader) override;
 
-    virtual yarp::os::PortWriter& modifyOutgoingData(yarp::os::PortWriter& writer) override;
+    virtual const yarp::os::PortWriter& modifyOutgoingData(const yarp::os::PortWriter& writer) override;
 
-    virtual bool acceptOutgoingData(yarp::os::PortWriter& wrtier) override;
+    virtual bool acceptOutgoingData(const yarp::os::PortWriter& writer) override;
 
     virtual yarp::os::PortReader& modifyReply(yarp::os::PortReader& reader) override;
 
     virtual void setCarrierParams(const yarp::os::Property& params) override;
 
-    virtual void getCarrierParams(yarp::os::Property& params) override;
+    virtual void getCarrierParams(yarp::os::Property& params) const override;
 
 
-    void lock() { mutex.lock(); }
-    void unlock() { mutex.unlock(); }
+    void lock() const { mutex.lock(); }
+    void unlock() const { mutex.unlock(); }
 
     MonitorBinding* getBinder(void) {
         if(!bReady)
@@ -131,7 +131,7 @@ class yarp::os::PortMonitor : public yarp::os::ModifyingCarrier
     yarp::os::Things thing;
     MonitorBinding* binder;
     PortMonitorGroup *group;
-    std::mutex mutex;
+    mutable std::mutex mutex;
 };
 
 #endif //PORTMONITOR_INC
diff --git a/src/carriers/priority_carrier/PriorityCarrier.h b/src/carriers/priority_carrier/PriorityCarrier.h
index 665c6a42974..d740443a5a4 100644
--- a/src/carriers/priority_carrier/PriorityCarrier.h
+++ b/src/carriers/priority_carrier/PriorityCarrier.h
@@ -114,15 +114,15 @@ class yarp::os::PriorityCarrier : public yarp::os::ModifyingCarrier {
         }
     }
 
-    virtual Carrier *create() override {
+    virtual Carrier *create() const override {
         return new PriorityCarrier();
     }
 
-    virtual std::string getName() override {
+    virtual std::string getName() const override {
         return "priority";
     }
 
-    virtual std::string toString() override {
+    virtual std::string toString() const override {
         return "priority_carrier";
     }
 
@@ -169,7 +169,7 @@ class yarp::os::PriorityCarrier : public yarp::os::ModifyingCarrier {
             excitation = property.findGroup("ex");
     }
 
-    virtual void getCarrierParams(yarp::os::Property& params) override {
+    virtual void getCarrierParams(yarp::os::Property& params) const override {
         params.put("tc", timeConstant);
         params.put("tr", timeResting);
         params.put("st", stimulation);
diff --git a/src/carriers/shmem_carrier/ShmemCarrier.cpp b/src/carriers/shmem_carrier/ShmemCarrier.cpp
index a839975de58..6d99f910fea 100644
--- a/src/carriers/shmem_carrier/ShmemCarrier.cpp
+++ b/src/carriers/shmem_carrier/ShmemCarrier.cpp
@@ -18,29 +18,29 @@ ShmemCarrier::ShmemCarrier() = default;
 
 ShmemCarrier::~ShmemCarrier() = default;
 
-yarp::os::Carrier* ShmemCarrier::create()
+yarp::os::Carrier* ShmemCarrier::create() const
 {
     return new ShmemCarrier();
 }
 
-std::string ShmemCarrier::getName()
+std::string ShmemCarrier::getName() const
 {
     return "shmem";
 }
 
-int ShmemCarrier::getSpecifierCode()
+int ShmemCarrier::getSpecifierCode() const
 {
     // specifier codes are a very old yarp feature,
     // not necessary any more really, should be replaced.
     return 14;
 }
 
-bool ShmemCarrier::requireAck()
+bool ShmemCarrier::requireAck() const
 {
     return true;
 }
 
-bool ShmemCarrier::isConnectionless()
+bool ShmemCarrier::isConnectionless() const
 {
     return false;
 }
@@ -50,7 +50,7 @@ bool ShmemCarrier::checkHeader(const yarp::os::Bytes& header)
     return getSpecifier(header) % 16 == getSpecifierCode();
 }
 
-void ShmemCarrier::getHeader(const yarp::os::Bytes& header)
+void ShmemCarrier::getHeader(yarp::os::Bytes& header) const
 {
     createStandardHeader(getSpecifierCode(), header);
 }
diff --git a/src/carriers/shmem_carrier/ShmemCarrier.h b/src/carriers/shmem_carrier/ShmemCarrier.h
index 1880eda8251..db3d43f2370 100644
--- a/src/carriers/shmem_carrier/ShmemCarrier.h
+++ b/src/carriers/shmem_carrier/ShmemCarrier.h
@@ -22,15 +22,15 @@ class ShmemCarrier : public yarp::os::AbstractCarrier
     ShmemCarrier();
     virtual ~ShmemCarrier();
 
-    virtual Carrier* create() override;
+    virtual Carrier* create() const override;
 
-    virtual std::string getName() override;
+    virtual std::string getName() const override;
 
-    virtual int getSpecifierCode();
-    virtual bool requireAck() override;
-    virtual bool isConnectionless() override;
+    virtual int getSpecifierCode() const;
+    virtual bool requireAck() const override;
+    virtual bool isConnectionless() const override;
     virtual bool checkHeader(const yarp::os::Bytes& header) override;
-    virtual void getHeader(const yarp::os::Bytes& header) override;
+    virtual void getHeader(yarp::os::Bytes& header) const override;
     virtual void setParameters(const yarp::os::Bytes& header) override;
     virtual bool respondToHeader(yarp::os::ConnectionState& proto) override;
     virtual bool expectReplyToHeader(yarp::os::ConnectionState& proto) override;
diff --git a/src/carriers/shmem_carrier/ShmemHybridStream.cpp b/src/carriers/shmem_carrier/ShmemHybridStream.cpp
index eee6edfd374..fd19b14b3b7 100644
--- a/src/carriers/shmem_carrier/ShmemHybridStream.cpp
+++ b/src/carriers/shmem_carrier/ShmemHybridStream.cpp
@@ -173,7 +173,7 @@ void ShmemHybridStream::write(const yarp::os::Bytes& b)
     }
 }
 
-yarp::conf::ssize_t ShmemHybridStream::read(const yarp::os::Bytes& b)
+yarp::conf::ssize_t ShmemHybridStream::read(yarp::os::Bytes& b)
 {
     yarp::conf::ssize_t ret = in.read(b);
     if (ret == -1) {
@@ -192,7 +192,7 @@ yarp::os::OutputStream& ShmemHybridStream::getOutputStream()
     return *this;
 }
 
-bool ShmemHybridStream::isOk()
+bool ShmemHybridStream::isOk() const
 {
     return m_bLinked && in.isOk() && out.isOk();
 }
@@ -211,12 +211,12 @@ void ShmemHybridStream::endPacket()
 {
 }
 
-const yarp::os::Contact& ShmemHybridStream::getLocalAddress()
+const yarp::os::Contact& ShmemHybridStream::getLocalAddress() const
 {
     return m_LocalAddress;
 }
 
-const yarp::os::Contact& ShmemHybridStream::getRemoteAddress()
+const yarp::os::Contact& ShmemHybridStream::getRemoteAddress() const
 {
     return m_RemoteAddress;
 }
diff --git a/src/carriers/shmem_carrier/ShmemHybridStream.h b/src/carriers/shmem_carrier/ShmemHybridStream.h
index f5f8774bbf5..1c43eb521c5 100644
--- a/src/carriers/shmem_carrier/ShmemHybridStream.h
+++ b/src/carriers/shmem_carrier/ShmemHybridStream.h
@@ -41,20 +41,20 @@ class ShmemHybridStream : public yarp::os::TwoWayStream,
     virtual void write(const yarp::os::Bytes& b) override;
 
     using yarp::os::InputStream::read;
-    virtual yarp::conf::ssize_t read(const yarp::os::Bytes& b) override;
+    virtual yarp::conf::ssize_t read(yarp::os::Bytes& b) override;
 
     // TwoWayStrem implementation
     virtual yarp::os::InputStream& getInputStream() override;
     virtual yarp::os::OutputStream& getOutputStream() override;
-    virtual bool isOk() override;
+    virtual bool isOk() const override;
 
     virtual void reset() override;
 
     virtual void beginPacket() override;
     virtual void endPacket() override;
 
-    virtual const yarp::os::Contact& getLocalAddress() override;
-    virtual const yarp::os::Contact& getRemoteAddress() override;
+    virtual const yarp::os::Contact& getLocalAddress() const override;
+    virtual const yarp::os::Contact& getRemoteAddress() const override;
 
 private:
     enum
diff --git a/src/carriers/shmem_carrier/ShmemInputStream.cpp b/src/carriers/shmem_carrier/ShmemInputStream.cpp
index 656fbcce34e..e5cf62fcb5e 100644
--- a/src/carriers/shmem_carrier/ShmemInputStream.cpp
+++ b/src/carriers/shmem_carrier/ShmemInputStream.cpp
@@ -36,7 +36,7 @@ ShmemInputStreamImpl::~ShmemInputStreamImpl()
     close();
 }
 
-bool ShmemInputStreamImpl::isOk()
+bool ShmemInputStreamImpl::isOk() const
 {
     return m_bOpen;
 }
@@ -190,7 +190,7 @@ int ShmemInputStreamImpl::read(char* data, int len)
     return len;
 }
 
-yarp::conf::ssize_t ShmemInputStreamImpl::read(const yarp::os::Bytes& b)
+yarp::conf::ssize_t ShmemInputStreamImpl::read(yarp::os::Bytes& b)
 {
     m_ReadSerializerMutex.lock();
 
diff --git a/src/carriers/shmem_carrier/ShmemInputStream.h b/src/carriers/shmem_carrier/ShmemInputStream.h
index 5143997e7fd..88e5de98b53 100644
--- a/src/carriers/shmem_carrier/ShmemInputStream.h
+++ b/src/carriers/shmem_carrier/ShmemInputStream.h
@@ -43,9 +43,9 @@ class ShmemInputStreamImpl
     ShmemInputStreamImpl();
     ~ShmemInputStreamImpl();
 
-    bool isOk();
+    bool isOk() const;
     bool open(int port, ACE_SOCK_Stream* pSock, int size = SHMEM_DEFAULT_SIZE);
-    yarp::conf::ssize_t read(const yarp::os::Bytes& b);
+    yarp::conf::ssize_t read(yarp::os::Bytes& b);
     void close();
 
 protected:
diff --git a/src/carriers/shmem_carrier/ShmemOutputStream.cpp b/src/carriers/shmem_carrier/ShmemOutputStream.cpp
index 858b668fd80..21978345d57 100644
--- a/src/carriers/shmem_carrier/ShmemOutputStream.cpp
+++ b/src/carriers/shmem_carrier/ShmemOutputStream.cpp
@@ -34,7 +34,7 @@ ShmemOutputStreamImpl::~ShmemOutputStreamImpl()
     close();
 }
 
-bool ShmemOutputStreamImpl::isOk()
+bool ShmemOutputStreamImpl::isOk() const
 {
     return m_bOpen;
 }
diff --git a/src/carriers/shmem_carrier/ShmemOutputStream.h b/src/carriers/shmem_carrier/ShmemOutputStream.h
index 224b0261c01..953447e600a 100644
--- a/src/carriers/shmem_carrier/ShmemOutputStream.h
+++ b/src/carriers/shmem_carrier/ShmemOutputStream.h
@@ -43,7 +43,7 @@ class ShmemOutputStreamImpl
     ShmemOutputStreamImpl();
     ~ShmemOutputStreamImpl();
 
-    bool isOk();
+    bool isOk() const;
     bool open(int port, int size = SHMEM_DEFAULT_SIZE);
     bool write(const yarp::os::Bytes& b);
     void close();
diff --git a/src/carriers/tcpros_carrier/RosLookup.h b/src/carriers/tcpros_carrier/RosLookup.h
index 16557f23074..890049df7f9 100644
--- a/src/carriers/tcpros_carrier/RosLookup.h
+++ b/src/carriers/tcpros_carrier/RosLookup.h
@@ -29,7 +29,7 @@ class YARP_tcpros_carrier_API RosLookup {
 
     bool lookupTopic(const std::string& name);
 
-    std::string toString() {
+    std::string toString() const {
         char buf[1000];
         sprintf(buf,"/%s:%d/", hostname.c_str(), portnum);
         return buf;
diff --git a/src/carriers/tcpros_carrier/TcpRosCarrier.h b/src/carriers/tcpros_carrier/TcpRosCarrier.h
index 3908541eff5..b6c94c3da70 100644
--- a/src/carriers/tcpros_carrier/TcpRosCarrier.h
+++ b/src/carriers/tcpros_carrier/TcpRosCarrier.h
@@ -68,60 +68,60 @@ class yarp::os::TcpRosCarrier : public Carrier {
         persistent = true;
     }
 
-    virtual Carrier *create() override {
+    virtual Carrier *create() const override {
         return new TcpRosCarrier();
     }
 
-    virtual std::string getName() override {
+    virtual std::string getName() const override {
         return isService?"rossrv":"tcpros";
     }
 
-    virtual bool isConnectionless() override {
+    virtual bool isConnectionless() const override {
         return false;
     }
 
-    virtual bool canAccept() override {
+    virtual bool canAccept() const override {
         return true;
     }
 
-    virtual bool canOffer() override {
+    virtual bool canOffer() const override {
         return true;
     }
 
-    virtual bool isTextMode() override {
+    virtual bool isTextMode() const override {
         return false;
     }
 
-    virtual bool isBareMode() override {
+    virtual bool isBareMode() const override {
         return true;
     }
 
-    virtual bool canEscape() override {
+    virtual bool canEscape() const override {
         return false;
     }
 
-    virtual bool requireAck() override {
+    virtual bool requireAck() const override {
         return false;
     }
 
-    virtual bool supportReply() override {
+    virtual bool supportReply() const override {
         return true;
     }
 
-    virtual bool isPush() override {
+    virtual bool isPush() const override {
         // if topic-like, pull ; if service-like, push!
         return isService;
     }
 
-    virtual bool isLocal() override {
+    virtual bool isLocal() const override {
         return false;
     }
 
-    virtual std::string toString() override {
+    virtual std::string toString() const override {
         return isService?"rossrv_carrier":"tcpros_carrier";
     }
 
-    virtual void getHeader(const Bytes& header) override {
+    virtual void getHeader(Bytes& header) const override {
         // no header, will need to do some fancy footwork
         const char *target = "NONONONO";
         for (size_t i=0; i<8 && i<header.length(); i++) {
@@ -154,7 +154,7 @@ class yarp::os::TcpRosCarrier : public Carrier {
 
     virtual bool expectReplyToHeader(ConnectionState& proto) override;
 
-    virtual bool isActive() override {
+    virtual bool isActive() const override {
         return true;
     }
 
@@ -181,7 +181,7 @@ class yarp::os::TcpRosCarrier : public Carrier {
         return true;
     }
 
-    virtual std::string getBootstrapCarrierName() override { return ""; }
+    virtual std::string getBootstrapCarrierName() const override { return ""; }
 
     virtual int connect(const yarp::os::Contact& src,
                         const yarp::os::Contact& dest,
@@ -207,7 +207,7 @@ class yarp::os::RosSrvCarrier : public TcpRosCarrier {
         isService = true;
     }
 
-    virtual Carrier *create() override {
+    virtual Carrier *create() const override {
         return new RosSrvCarrier();
     }
 };
diff --git a/src/carriers/tcpros_carrier/TcpRosStream.cpp b/src/carriers/tcpros_carrier/TcpRosStream.cpp
index dcd6a45ea76..764b5552982 100644
--- a/src/carriers/tcpros_carrier/TcpRosStream.cpp
+++ b/src/carriers/tcpros_carrier/TcpRosStream.cpp
@@ -23,7 +23,7 @@ using namespace std;
 
 #define dbg_printf if (0) printf
 
-yarp::conf::ssize_t TcpRosStream::read(const Bytes& b) {
+yarp::conf::ssize_t TcpRosStream::read(Bytes& b) {
     if (!setInitiative) {
         initiative = false;
         setInitiative = true;
diff --git a/src/carriers/tcpros_carrier/TcpRosStream.h b/src/carriers/tcpros_carrier/TcpRosStream.h
index bd32b1bbe38..1c867da24b5 100644
--- a/src/carriers/tcpros_carrier/TcpRosStream.h
+++ b/src/carriers/tcpros_carrier/TcpRosStream.h
@@ -80,15 +80,15 @@ class YARP_tcpros_carrier_API yarp::os::TcpRosStream : public TwoWayStream,
     virtual yarp::os::OutputStream& getOutputStream() override { return *this; }
 
 
-    virtual const yarp::os::Contact& getLocalAddress() override {
+    virtual const yarp::os::Contact& getLocalAddress() const override {
         return delegate->getLocalAddress();
     }
 
-    virtual const yarp::os::Contact& getRemoteAddress() override {
+    virtual const yarp::os::Contact& getRemoteAddress() const override {
         return delegate->getRemoteAddress();
     }
 
-    virtual bool isOk() override {
+    virtual bool isOk() const override {
         return delegate->isOk();
     }
 
@@ -113,7 +113,7 @@ class YARP_tcpros_carrier_API yarp::os::TcpRosStream : public TwoWayStream,
     virtual void write(const Bytes& b) override;
 
     using yarp::os::InputStream::read;
-    virtual yarp::conf::ssize_t read(const Bytes& b) override;
+    virtual yarp::conf::ssize_t read(Bytes& b) override;
 
     virtual void interrupt() override {
         delegate->getInputStream().interrupt();
diff --git a/src/carriers/xmlrpc_carrier/XmlRpcCarrier.h b/src/carriers/xmlrpc_carrier/XmlRpcCarrier.h
index c18024b2212..20b0bdb95de 100644
--- a/src/carriers/xmlrpc_carrier/XmlRpcCarrier.h
+++ b/src/carriers/xmlrpc_carrier/XmlRpcCarrier.h
@@ -56,62 +56,62 @@ class yarp::os::XmlRpcCarrier : public Carrier
     {
     }
 
-    virtual Carrier *create() override
+    virtual Carrier *create() const override
     {
         return new XmlRpcCarrier();
     }
 
-    virtual std::string getName() override
+    virtual std::string getName() const override
     {
         return "xmlrpc";
     }
 
-    virtual bool isConnectionless() override
+    virtual bool isConnectionless() const override
     {
         return false;
     }
 
-    virtual bool canAccept() override
+    virtual bool canAccept() const override
     {
         return true;
     }
 
-    virtual bool canOffer() override
+    virtual bool canOffer() const override
     {
         return true;
     }
 
-    virtual bool isTextMode() override
+    virtual bool isTextMode() const override
     {
         return true;
     }
 
-    virtual bool canEscape() override
+    virtual bool canEscape() const override
     {
         return true;
     }
 
-    virtual bool requireAck() override
+    virtual bool requireAck() const override
     {
         return false;
     }
 
-    virtual bool supportReply() override
+    virtual bool supportReply() const override
     {
         return true;
     }
 
-    virtual bool isLocal() override
+    virtual bool isLocal() const override
     {
         return false;
     }
 
-    virtual std::string toString() override
+    virtual std::string toString() const override
     {
         return "xmlrpc_carrier";
     }
 
-    virtual void getHeader(const Bytes& header) override
+    virtual void getHeader(Bytes& header) const override
     {
         const char *target = "POST /RP";
         for (size_t i=0; i<8 && i<header.length(); i++) {
@@ -171,7 +171,7 @@ class yarp::os::XmlRpcCarrier : public Carrier
         return true;
     }
 
-    virtual bool isActive() override
+    virtual bool isActive() const override
     {
         return true;
     }
@@ -203,7 +203,7 @@ class yarp::os::XmlRpcCarrier : public Carrier
         return true;
     }
 
-    virtual std::string getBootstrapCarrierName() override
+    virtual std::string getBootstrapCarrierName() const override
     {
         return "";
     }
diff --git a/src/carriers/xmlrpc_carrier/XmlRpcStream.cpp b/src/carriers/xmlrpc_carrier/XmlRpcStream.cpp
index 2e1523c6441..66c1f14ac41 100644
--- a/src/carriers/xmlrpc_carrier/XmlRpcStream.cpp
+++ b/src/carriers/xmlrpc_carrier/XmlRpcStream.cpp
@@ -87,7 +87,7 @@ Value toValue(XmlRpcValue& v, bool outer)
     return Value("(type not supported yet out of laziness)");
 }
 
-yarp::conf::ssize_t XmlRpcStream::read(const Bytes& b)
+yarp::conf::ssize_t XmlRpcStream::read(Bytes& b)
 {
     //printf("XMLRPC READ\n");
     yarp::conf::ssize_t result = sis.read(b);
diff --git a/src/carriers/xmlrpc_carrier/XmlRpcStream.h b/src/carriers/xmlrpc_carrier/XmlRpcStream.h
index c8332a1debb..f09568adc71 100644
--- a/src/carriers/xmlrpc_carrier/XmlRpcStream.h
+++ b/src/carriers/xmlrpc_carrier/XmlRpcStream.h
@@ -69,17 +69,17 @@ class yarp::os::XmlRpcStream : public TwoWayStream,
     }
 
 
-    virtual const yarp::os::Contact& getLocalAddress() override
+    virtual const yarp::os::Contact& getLocalAddress() const override
     {
         return delegate->getLocalAddress();
     }
 
-    virtual const yarp::os::Contact& getRemoteAddress() override
+    virtual const yarp::os::Contact& getRemoteAddress() const override
     {
         return delegate->getRemoteAddress();
     }
 
-    virtual bool isOk() override
+    virtual bool isOk() const override
     {
         return delegate->isOk();
     }
@@ -108,7 +108,7 @@ class yarp::os::XmlRpcStream : public TwoWayStream,
     virtual void write(const Bytes& b) override;
 
     using yarp::os::InputStream::read;
-    virtual yarp::conf::ssize_t read(const Bytes& b) override;
+    virtual yarp::conf::ssize_t read(Bytes& b) override;
 
     virtual void interrupt() override
     {
diff --git a/src/idls/rosmsg/src/RosTypeCodeGenYarp.cpp b/src/idls/rosmsg/src/RosTypeCodeGenYarp.cpp
index ee6c53176fa..f49c569eecb 100644
--- a/src/idls/rosmsg/src/RosTypeCodeGenYarp.cpp
+++ b/src/idls/rosmsg/src/RosTypeCodeGenYarp.cpp
@@ -591,7 +591,7 @@ bool RosTypeCodeGenYarp::endRead(bool bare)
 
 bool RosTypeCodeGenYarp::beginWrite(bool bare, int len)
 {
-    fprintf(out, "    bool write%s(yarp::os::ConnectionWriter& connection) override\n",
+    fprintf(out, "    bool write%s(yarp::os::ConnectionWriter& connection) const override\n",
             bare?"Bare":"Bottle");
     fprintf(out, "    {\n");
     if (!bare) {
@@ -732,7 +732,7 @@ bool RosTypeCodeGenYarp::endWrite(bool bare)
     fprintf(out, "    }\n\n");
     if (!bare) {
         fprintf(out, "    using yarp::os::idl::WirePortable::write;\n");
-        fprintf(out, "    bool write(yarp::os::ConnectionWriter& connection) override\n");
+        fprintf(out, "    bool write(yarp::os::ConnectionWriter& connection) const override\n");
         fprintf(out, "    {\n");
         fprintf(out, "        return (connection.isBareMode() ? writeBare(connection)\n");
         fprintf(out, "                                        : writeBottle(connection));\n");
diff --git a/src/idls/thrift/src/t_yarp_generator.cc b/src/idls/thrift/src/t_yarp_generator.cc
index b92c9371db9..25d9e7e7a50 100644
--- a/src/idls/thrift/src/t_yarp_generator.cc
+++ b/src/idls/thrift/src/t_yarp_generator.cc
@@ -1074,7 +1074,7 @@ void t_yarp_generator::generate_enum(t_enum* tenum) {
   f_types_ << "public:" << endl;
   indent_up();
   indent(f_types_) << "virtual int fromString(const std::string& input) override;" << endl;
-  indent(f_types_) << "virtual std::string toString(int input) override;" << endl;
+  indent(f_types_) << "virtual std::string toString(int input) const override;" << endl;
   indent_down();
   f_types_ << "};" << endl;
   f_types_ << endl;
@@ -1096,7 +1096,7 @@ void t_yarp_generator::generate_enum(t_enum* tenum) {
   os << "}" << endl;
 
 
-  os << "std::string " << enum_name << "Vocab::toString(int input) {" << endl;
+  os << "std::string " << enum_name << "Vocab::toString(int input) const {" << endl;
   indent_up();
   indent(os) << "switch((" << enum_name << ")input) {" << endl;
   for (vector<t_enum_value*>::const_iterator c_iter = constants.begin();
@@ -1370,9 +1370,9 @@ void t_yarp_generator::generate_struct(t_struct* tstruct) {
               << endl;
 
 
-  indent(out) << "bool write(yarp::os::idl::WireWriter& writer) override;"
+  indent(out) << "bool write(const yarp::os::idl::WireWriter& writer) const override;"
               << endl;
-  indent(out) << "bool write(yarp::os::ConnectionWriter& connection) override;"
+  indent(out) << "bool write(yarp::os::ConnectionWriter& connection) const override;"
               << endl;
 
   out << endl;
@@ -1383,8 +1383,8 @@ void t_yarp_generator::generate_struct(t_struct* tstruct) {
 
   for (mem_iter = members.begin() ; mem_iter != members.end(); mem_iter++) {
     string mname = (*mem_iter)->get_name();
-    indent(out) << "bool write_" << mname << "(yarp::os::idl::WireWriter& writer);" << endl;
-    indent(out) << "bool nested_write_" << mname << "(yarp::os::idl::WireWriter& writer);" << endl;
+    indent(out) << "bool write_" << mname << "(const yarp::os::idl::WireWriter& writer) const;" << endl;
+    indent(out) << "bool nested_write_" << mname << "(const yarp::os::idl::WireWriter& writer) const;" << endl;
   }
   for (mem_iter = members.begin() ; mem_iter != members.end(); mem_iter++) {
     string mname = (*mem_iter)->get_name();
@@ -1398,7 +1398,7 @@ void t_yarp_generator::generate_struct(t_struct* tstruct) {
   indent_up();
 
   f_stt_ << endl;
-  indent(f_stt_) << "std::string toString();"
+  indent(f_stt_) << "std::string toString() const;"
                  << endl;
 
   f_stt_ << endl;
@@ -1527,7 +1527,7 @@ void t_yarp_generator::generate_struct(t_struct* tstruct) {
 
   // serialize
   indent(out) << "bool read(yarp::os::ConnectionReader& connection) override;" << endl;
-  indent(out) << "bool write(yarp::os::ConnectionWriter& connection) override;" << endl;
+  indent(out) << "bool write(yarp::os::ConnectionWriter& connection) const override;" << endl;
 
 
   indent_down();
@@ -1672,14 +1672,14 @@ void t_yarp_generator::generate_struct(t_struct* tstruct) {
     for (mem_iter = members.begin() ; mem_iter != members.end(); mem_iter++) {
       string mname = (*mem_iter)->get_name();
       indent(out) << "bool " << name
-                  << "::write_" << mname << "(yarp::os::idl::WireWriter& writer) {"
+                  << "::write_" << mname << "(const yarp::os::idl::WireWriter& writer) const {"
                   << endl;
       indent_up();
       generate_serialize_field(out, *mem_iter, "");
       indent(out) << "return true;" << endl;
       scope_down(out);
       indent(out) << "bool " << name
-                  << "::nested_write_" << mname << "(yarp::os::idl::WireWriter& writer) {"
+                  << "::nested_write_" << mname << "(const yarp::os::idl::WireWriter& writer) const {"
                   << endl;
       indent_up();
       generate_serialize_field(out, *mem_iter, "", "", true);
@@ -1688,7 +1688,7 @@ void t_yarp_generator::generate_struct(t_struct* tstruct) {
     }
 
     indent(out) << "bool " << name
-                << "::write(yarp::os::idl::WireWriter& writer) {"
+                << "::write(const yarp::os::idl::WireWriter& writer) const {"
                 << endl;
     indent_up();
     for (mem_iter=members.begin() ; mem_iter != members.end(); mem_iter++) {
@@ -1701,7 +1701,7 @@ void t_yarp_generator::generate_struct(t_struct* tstruct) {
     out << endl;
 
     indent(out) << "bool " << name
-                << "::write(yarp::os::ConnectionWriter& connection) {"
+                << "::write(yarp::os::ConnectionWriter& connection) const {"
                 << endl;
     indent_up();
     indent(out) << "yarp::os::idl::WireWriter writer(connection);"
@@ -1718,7 +1718,7 @@ void t_yarp_generator::generate_struct(t_struct* tstruct) {
     ofstream& out = f_cpp_;
 
     indent(out) << "bool " << name
-                << "::Editor::write(yarp::os::ConnectionWriter& connection) {"
+                << "::Editor::write(yarp::os::ConnectionWriter& connection) const {"
                 << endl;
     indent_up();
     indent(out) << "if (!isValid()) return false;" << endl;
@@ -1855,7 +1855,7 @@ void t_yarp_generator::generate_struct(t_struct* tstruct) {
   }
 
   indent(f_cpp_) << "std::string " << name
-                 << "::toString() {"
+                 << "::toString() const {"
                  << endl;
   indent_up();
   indent(f_cpp_) << "yarp::os::Bottle b;" << endl;
@@ -2011,7 +2011,7 @@ void t_yarp_generator::generate_service(t_service* tservice) {
         }
 
         indent(f_curr_) << function_prototype(*fn_iter,false,nullptr,"init") << ";" << endl;
-        indent(f_curr_) << "virtual bool write(yarp::os::ConnectionWriter& connection) override;" << endl;
+        indent(f_curr_) << "virtual bool write(yarp::os::ConnectionWriter& connection) const override;" << endl;
         indent(f_curr_) << "virtual bool read(yarp::os::ConnectionReader& connection) override;" << endl;
 
         indent_down();
@@ -2033,7 +2033,7 @@ void t_yarp_generator::generate_service(t_service* tservice) {
         vector<t_field*>::iterator arg_iter;
         t_type* returntype = (*fn_iter)->get_returntype();
         t_field returnfield(returntype, "_return");
-        indent(f_curr_) << "bool " << service_name_ << "_" << fname << "::write(yarp::os::ConnectionWriter& connection) {" << endl;
+        indent(f_curr_) << "bool " << service_name_ << "_" << fname << "::write(yarp::os::ConnectionWriter& connection) const {" << endl;
         indent_up();
         yfn y((*fn_iter)->get_name());
         indent(f_curr_) << "yarp::os::idl::WireWriter writer(connection);"
@@ -2410,7 +2410,7 @@ void t_yarp_generator::generate_count_field(ofstream& out,
   } else if (type->is_container()) {
     string iter = tmp("_iter");
     out <<
-      indent() << type_name(type) << "::iterator " << iter << ";" << endl <<
+      indent() << type_name(type) << "::const_iterator " << iter << ";" << endl <<
       indent() << "for (" << iter << " = " << name  << ".begin(); " << name << " != " << name << ".end(); ++" << iter << ")" << endl;
     scope_up(out);
     out << "ct += " << iter << "->count(writer);" << endl;
@@ -2536,7 +2536,7 @@ void t_yarp_generator::generate_serialize_container(ofstream& out,
 
   string iter = tmp("_iter");
   out <<
-    indent() << type_name(ttype) << "::iterator " << iter << ";" << endl <<
+    indent() << type_name(ttype) << "::const_iterator " << iter << ";" << endl <<
     indent() << "for (" << iter << " = " << prefix  << ".begin(); " << iter << " != " << prefix << ".end(); ++" << iter << ")" << endl;
   scope_up(out);
     if (ttype->is_map()) {
diff --git a/src/libYARP_OS/include/yarp/os/AbstractCarrier.h b/src/libYARP_OS/include/yarp/os/AbstractCarrier.h
index 86d8df6bdff..2026d773495 100644
--- a/src/libYARP_OS/include/yarp/os/AbstractCarrier.h
+++ b/src/libYARP_OS/include/yarp/os/AbstractCarrier.h
@@ -33,10 +33,10 @@ class YARP_OS_API AbstractCarrier : public Carrier
 /** @{ */
 
     // Documented in Carrier
-    virtual Carrier *create() override = 0;
+    virtual Carrier *create() const override = 0;
 
     // Documented in Carrier
-    virtual std::string getName() override = 0;
+    virtual std::string getName() const override = 0;
 
     // Documented in Carrier
     virtual bool checkHeader(const yarp::os::Bytes& header) override = 0;
@@ -45,37 +45,37 @@ class YARP_OS_API AbstractCarrier : public Carrier
     virtual void setParameters(const yarp::os::Bytes& header) override;
 
     // Documented in Carrier
-    virtual void getHeader(const yarp::os::Bytes& header) override = 0;
+    virtual void getHeader(yarp::os::Bytes& header) const override = 0;
 
     // Documented in Carrier
     virtual void setCarrierParams(const yarp::os::Property& params) override;
     // Documented in Carrier
-    virtual void getCarrierParams(yarp::os::Property& params) override;
+    virtual void getCarrierParams(yarp::os::Property& params) const override;
 
 /** @} */
 /** @{ */
 
     // Documented in Carrier
-    virtual bool isConnectionless() override;
+    virtual bool isConnectionless() const override;
     // Documented in Carrier
-    virtual bool supportReply() override;
+    virtual bool supportReply() const override;
     // Documented in Carrier
-    virtual bool canAccept() override;
+    virtual bool canAccept() const override;
     // Documented in Carrier
-    virtual bool canOffer() override;
+    virtual bool canOffer() const override;
     // Documented in Carrier
-    virtual bool isTextMode() override;
+    virtual bool isTextMode() const override;
     // Documented in Carrier
-    virtual bool requireAck() override;
+    virtual bool requireAck() const override;
     // Documented in Carrier
-    virtual bool canEscape() override;
+    virtual bool canEscape() const override;
     // Documented in Carrier
-    virtual bool isLocal() override;
+    virtual bool isLocal() const override;
     // Documented in Carrier
-    virtual std::string toString() override;
+    virtual std::string toString() const override;
 
     // Documented in Carrier
-    virtual bool isActive() override;
+    virtual bool isActive() const override;
 
 /** @} */
 /** @{ */
@@ -153,8 +153,8 @@ class YARP_OS_API AbstractCarrier : public Carrier
 
 /** @{ */
 
-    int getSpecifier(const Bytes& b);
-    void createStandardHeader(int specifier, const yarp::os::Bytes& header);
+    int getSpecifier(const Bytes& b) const;
+    void createStandardHeader(int specifier, yarp::os::Bytes& header) const;
 
     // Documented in Carrier
     virtual bool write(ConnectionState& proto, SizedWriter& writer) override;
@@ -166,7 +166,7 @@ class YARP_OS_API AbstractCarrier : public Carrier
 /** @{ */
 
     static int interpretYarpNumber(const yarp::os::Bytes& b);
-    static void createYarpNumber(int x, const yarp::os::Bytes& header);
+    static void createYarpNumber(int x, yarp::os::Bytes& header);
 
 /** @} */
 
diff --git a/src/libYARP_OS/include/yarp/os/AbstractContactable.h b/src/libYARP_OS/include/yarp/os/AbstractContactable.h
index 70f2fd77cbf..5a47c6f229e 100644
--- a/src/libYARP_OS/include/yarp/os/AbstractContactable.h
+++ b/src/libYARP_OS/include/yarp/os/AbstractContactable.h
@@ -129,13 +129,13 @@ class YARP_OS_API AbstractContactable : public UnbufferedContactable
     virtual void releaseProperties(Property* prop) override;
 
     // Documented in UnbufferedContactable
-    virtual bool write(PortWriter& writer,
-                       PortWriter* callback = nullptr) const override;
+    virtual bool write(const PortWriter& writer,
+                       const PortWriter* callback = nullptr) const override;
 
     // Documented in UnbufferedContactable
-    virtual bool write(PortWriter& writer,
+    virtual bool write(const PortWriter& writer,
                        PortReader& reader,
-                       PortWriter* callback = nullptr) const override;
+                       const PortWriter* callback = nullptr) const override;
 
     // Documented in UnbufferedContactable
     virtual bool read(PortReader& reader, bool willReply = false) override;
diff --git a/src/libYARP_OS/include/yarp/os/BinPortable-inl.h b/src/libYARP_OS/include/yarp/os/BinPortable-inl.h
index d7a2f0ad162..f67601509ef 100644
--- a/src/libYARP_OS/include/yarp/os/BinPortable-inl.h
+++ b/src/libYARP_OS/include/yarp/os/BinPortable-inl.h
@@ -31,7 +31,7 @@ bool yarp::os::BinPortable<T>::read(ConnectionReader& connection)
 }
 
 template <class T>
-bool yarp::os::BinPortable<T>::write(ConnectionWriter& connection)
+bool yarp::os::BinPortable<T>::write(ConnectionWriter& connection) const
 {
     connection.appendBlock((char*)(&t), sizeof(T));
     connection.convertTextMode(); // if connection is text-mode, convert!
diff --git a/src/libYARP_OS/include/yarp/os/BinPortable.h b/src/libYARP_OS/include/yarp/os/BinPortable.h
index 6440b014ec2..8cb8260113d 100644
--- a/src/libYARP_OS/include/yarp/os/BinPortable.h
+++ b/src/libYARP_OS/include/yarp/os/BinPortable.h
@@ -49,7 +49,7 @@ class BinPortable : public Portable
     virtual bool read(ConnectionReader& connection) override;
 
     // Documented in Portable
-    virtual bool write(ConnectionWriter& connection) override;
+    virtual bool write(ConnectionWriter& connection) const override;
 };
 
 } // namespace os
diff --git a/src/libYARP_OS/include/yarp/os/Bottle.h b/src/libYARP_OS/include/yarp/os/Bottle.h
index 84cdb0c0e54..18ec3aec56c 100644
--- a/src/libYARP_OS/include/yarp/os/Bottle.h
+++ b/src/libYARP_OS/include/yarp/os/Bottle.h
@@ -312,7 +312,7 @@ class YARP_OS_API yarp::os::Bottle : public Portable, public Searchable
      * @param writer the interface to the network connection for writing
      * @result true iff the representation was written successfully.
      */
-    bool write(ConnectionWriter& writer) override;
+    bool write(ConnectionWriter& writer) const override;
 
     /**
      * Set the bottle's value based on input from a network connection.
@@ -343,9 +343,9 @@ class YARP_OS_API yarp::os::Bottle : public Portable, public Searchable
      * @param textMode true if text serialization should be used.
      * @return true iff the bottle was read successfully.
      */
-    bool read(PortWriter& writer, bool textMode = false);
+    bool read(const PortWriter& writer, bool textMode = false);
 
-    void onCommencement() override;
+    void onCommencement() const override;
 
     virtual bool check(const std::string& key) const override;
 
diff --git a/src/libYARP_OS/include/yarp/os/Bytes.h b/src/libYARP_OS/include/yarp/os/Bytes.h
index 68fe2b9d9b6..79af641d6a1 100644
--- a/src/libYARP_OS/include/yarp/os/Bytes.h
+++ b/src/libYARP_OS/include/yarp/os/Bytes.h
@@ -45,9 +45,14 @@ class YARP_OS_API Bytes
     size_t length() const;
 
     /**
-     * @return address of data block
+     * @return address of data block. Const version.
      */
-    char* get() const;
+    const char* get() const;
+
+    /**
+     * @return address of data block.
+     */
+    char* get();
 
 private:
     char* data;
diff --git a/src/libYARP_OS/include/yarp/os/Carrier.h b/src/libYARP_OS/include/yarp/os/Carrier.h
index 562ab92afd1..80dcab4f8a1 100644
--- a/src/libYARP_OS/include/yarp/os/Carrier.h
+++ b/src/libYARP_OS/include/yarp/os/Carrier.h
@@ -57,7 +57,7 @@ class YARP_OS_API yarp::os::Carrier : public Connection
      *
      * @return a new object of the same type as this one.
      */
-    virtual Carrier *create() = 0;
+    virtual Carrier *create() const = 0;
 
     /**
      * Given the first 8 bytes received on a connection, decide if
@@ -92,7 +92,7 @@ class YARP_OS_API yarp::os::Carrier : public Connection
      * @param header a buffer to hold the first 8 bytes to send on a
      *               connection
      */
-    virtual void getHeader(const Bytes& header) override = 0;
+    virtual void getHeader(Bytes& header) const override = 0;
 
 
     /**
@@ -105,7 +105,7 @@ class YARP_OS_API yarp::os::Carrier : public Connection
      *
      * @return true if carrier is connectionless
      */
-    virtual bool isConnectionless() override = 0;
+    virtual bool isConnectionless() const override = 0;
 
 
     /**
@@ -117,28 +117,28 @@ class YARP_OS_API yarp::os::Carrier : public Connection
      *
      * @return true if carrier uses a broadcast mechanism.
      */
-    virtual bool isBroadcast() override;
+    virtual bool isBroadcast() const override;
 
     /**
      * Check if reading is implemented for this carrier.
      *
      * @return true if carrier can read messages
      */
-    virtual bool canAccept() = 0;
+    virtual bool canAccept() const = 0;
 
     /**
      * Check if writing is implemented for this carrier.
      *
      * @return true if carrier can write messages
      */
-    virtual bool canOffer() = 0;
+    virtual bool canOffer() const = 0;
 
     /**
      * Check if carrier is textual in nature
      *
      * @return true if carrier is text-based
      */
-    virtual bool isTextMode() override = 0;
+    virtual bool isTextMode() const override = 0;
 
     /**
      * Check if carrier can encode administrative messages, as opposed
@@ -147,7 +147,7 @@ class YARP_OS_API yarp::os::Carrier : public Connection
      *
      * @return true if carrier can encode administrative messages
      */
-    virtual bool canEscape() override = 0;
+    virtual bool canEscape() const override = 0;
 
     /**
      * Carriers that do not distinguish data from administrative headers
@@ -167,7 +167,7 @@ class YARP_OS_API yarp::os::Carrier : public Connection
      *
      * @return true if carrier requires acknowledgement.
      */
-    virtual bool requireAck() override = 0;
+    virtual bool requireAck() const override = 0;
 
     /**
      * This flag is used by YARP to determine whether the connection
@@ -175,7 +175,7 @@ class YARP_OS_API yarp::os::Carrier : public Connection
      *
      * @return true if carrier supports replies
      */
-    virtual bool supportReply() override = 0;
+    virtual bool supportReply() const override = 0;
 
     /**
      * Check if carrier operates within a single process.
@@ -185,7 +185,7 @@ class YARP_OS_API yarp::os::Carrier : public Connection
      *
      * @return true if carrier will only operate within a single process
      */
-    virtual bool isLocal() override = 0;
+    virtual bool isLocal() const override = 0;
 
 
     /**
@@ -199,7 +199,7 @@ class YARP_OS_API yarp::os::Carrier : public Connection
      *
      * @return true if carrier is "push" style, false if "pull" style
      */
-    virtual bool isPush() override;
+    virtual bool isPush() const override;
 
     /**
      * Perform any initialization needed before writing on a connection.
@@ -293,7 +293,7 @@ class YARP_OS_API yarp::os::Carrier : public Connection
      *
      * @return true if carrier is active.
      */
-    virtual bool isActive() override = 0;
+    virtual bool isActive() const override = 0;
 
     /**
      * Do cleanup and preparation for the coming disconnect, if
@@ -307,7 +307,7 @@ class YARP_OS_API yarp::os::Carrier : public Connection
      *
      * @return name of carrier.
      */
-    virtual std::string toString() = 0;
+    virtual std::string toString() const = 0;
 
     /**
      * Close the carrier.
@@ -333,7 +333,7 @@ class YARP_OS_API yarp::os::Carrier : public Connection
      *
      * @return the name of the bootstrap carrier.
      */
-    virtual std::string getBootstrapCarrierName();
+    virtual std::string getBootstrapCarrierName() const;
 
     /**
      * Some carrier types may require special connection logic.
@@ -362,7 +362,7 @@ class YARP_OS_API yarp::os::Carrier : public Connection
      *
      * @return true if carrier wants Carrier::modifyIncomingData called.
      */
-    virtual bool modifiesIncomingData() override;
+    virtual bool modifiesIncomingData() const override;
 
     /**
      * Modify incoming payload data, if appropriate.
@@ -395,7 +395,7 @@ class YARP_OS_API yarp::os::Carrier : public Connection
      *
      * @return true if carrier wants Carrier::modifyOutgoingData called.
      */
-    virtual bool modifiesOutgoingData() override;
+    virtual bool modifiesOutgoingData() const override;
 
     /**
      * Modify outgoing payload data, if appropriate.
@@ -407,7 +407,7 @@ class YARP_OS_API yarp::os::Carrier : public Connection
      * @param writer for outgoing data.
      * @return writer for modified version of outgoing data.
      */
-    virtual PortWriter& modifyOutgoingData(PortWriter& writer) override;
+    virtual const PortWriter& modifyOutgoingData(const PortWriter& writer) override;
 
     /**
      * Check if this carrier modifies outgoing data through the
@@ -415,7 +415,7 @@ class YARP_OS_API yarp::os::Carrier : public Connection
      *
      * @return true if carrier wants Carrier::modifyReply called.
      */
-    virtual bool modifiesReply() override;
+    virtual bool modifiesReply() const override;
 
     /**
      * Modify reply payload data, if appropriate.
@@ -432,7 +432,7 @@ class YARP_OS_API yarp::os::Carrier : public Connection
      * @return true if data should be accepted, false if it should be
      *         discarded.
      */
-    virtual bool acceptOutgoingData(PortWriter& writer) override;
+    virtual bool acceptOutgoingData(const PortWriter& writer) override;
 
     /**
      * Give carrier a shot at looking at how the connection is set up.
@@ -455,13 +455,13 @@ class YARP_OS_API yarp::os::Carrier : public Connection
      *
      * @param params properties
      */
-    virtual void getCarrierParams(Property& params) override;
+    virtual void getCarrierParams(Property& params) const override;
 
     /**
      * Create new Face object that the carrier needs.
      *
      */
-    virtual yarp::os::Face* createFace(void);
+    virtual yarp::os::Face* createFace() const;
 };
 
 #endif // YARP_OS_CARRIER_H
diff --git a/src/libYARP_OS/include/yarp/os/Connection.h b/src/libYARP_OS/include/yarp/os/Connection.h
index 88696822318..bbb03d7ccf6 100644
--- a/src/libYARP_OS/include/yarp/os/Connection.h
+++ b/src/libYARP_OS/include/yarp/os/Connection.h
@@ -42,21 +42,21 @@ class YARP_OS_API yarp::os::Connection
      * @return true if a valid connection
      *
      */
-    virtual bool isValid() { return true; }
+    virtual bool isValid() const { return true; }
 
     /**
      * Check if carrier is textual in nature
      *
      * @return true if carrier is text-based
      */
-    virtual bool isTextMode() = 0;
+    virtual bool isTextMode() const = 0;
 
     /**
      * Check if carrier excludes type information from payload
      *
      * @return true if carrier is bare
      */
-    virtual bool isBareMode() { return false; }
+    virtual bool isBareMode() const { return false; }
 
     /**
      * Carriers that do not distinguish data from administrative headers
@@ -78,7 +78,7 @@ class YARP_OS_API yarp::os::Connection
      *
      * @return true if carrier can encode administrative messages
      */
-    virtual bool canEscape() = 0;
+    virtual bool canEscape() const = 0;
 
     /**
      * Check if carrier has flow control, requiring sent messages
@@ -86,7 +86,7 @@ class YARP_OS_API yarp::os::Connection
      *
      * @return true if carrier requires acknowledgement.
      */
-    virtual bool requireAck() = 0;
+    virtual bool requireAck() const = 0;
 
     /**
      * This flag is used by YARP to determine whether the connection
@@ -94,7 +94,7 @@ class YARP_OS_API yarp::os::Connection
      *
      * @return true if carrier supports replies
      */
-    virtual bool supportReply() = 0;
+    virtual bool supportReply() const = 0;
 
     /**
      * Check if carrier operates within a single process.
@@ -104,7 +104,7 @@ class YARP_OS_API yarp::os::Connection
      *
      * @return true if carrier will only operate within a single process
      */
-    virtual bool isLocal() = 0;
+    virtual bool isLocal() const = 0;
 
 
     /**
@@ -118,7 +118,7 @@ class YARP_OS_API yarp::os::Connection
      *
      * @return true if carrier is "push" style, false if "pull" style
      */
-    virtual bool isPush() = 0;
+    virtual bool isPush() const = 0;
 
    /**
      * Check if this carrier is connectionless (like udp, mcast) or
@@ -130,7 +130,7 @@ class YARP_OS_API yarp::os::Connection
      *
      * @return true if carrier is connectionless
      */
-    virtual bool isConnectionless() = 0;
+    virtual bool isConnectionless() const = 0;
 
 
     /**
@@ -142,7 +142,7 @@ class YARP_OS_API yarp::os::Connection
      *
      * @return true if carrier uses a broadcast mechanism.
      */
-    virtual bool isBroadcast() = 0;
+    virtual bool isBroadcast() const = 0;
 
 
     /**
@@ -150,7 +150,7 @@ class YARP_OS_API yarp::os::Connection
      *
      * @return true if carrier is active.
      */
-    virtual bool isActive() = 0;
+    virtual bool isActive() const = 0;
 
 
     /**
@@ -159,7 +159,7 @@ class YARP_OS_API yarp::os::Connection
      *
      * @return true if carrier wants Carrier::modifyIncomingData called.
      */
-    virtual bool modifiesIncomingData() = 0;
+    virtual bool modifiesIncomingData() const = 0;
 
     /**
      * Modify incoming payload data, if appropriate.
@@ -188,7 +188,7 @@ class YARP_OS_API yarp::os::Connection
      *
      * @return true if carrier wants Carrier::modifyOutgoingData called.
      */
-    virtual bool modifiesOutgoingData() = 0;
+    virtual bool modifiesOutgoingData() const = 0;
 
     /**
      * Modify outgoing payload data, if appropriate.
@@ -200,7 +200,7 @@ class YARP_OS_API yarp::os::Connection
      * @param writer for outgoing data.
      * @return writer for modified version of outgoing data.
      */
-    virtual PortWriter& modifyOutgoingData(PortWriter& writer) = 0;
+    virtual const PortWriter& modifyOutgoingData(const PortWriter& writer) = 0;
 
     /**
      * Determine whether outgoing data should be accepted.
@@ -209,7 +209,7 @@ class YARP_OS_API yarp::os::Connection
      * @return true if data should be accepted, false if it should be
      *         discarded.
      */
-    virtual bool acceptOutgoingData(PortWriter& writer) = 0;
+    virtual bool acceptOutgoingData(const PortWriter& writer) = 0;
 
     /**
      * Check if this carrier modifies outgoing data through the
@@ -217,7 +217,7 @@ class YARP_OS_API yarp::os::Connection
      *
      * @return true if carrier wants Carrier::modifyReply called.
      */
-    virtual bool modifiesReply() = 0;
+    virtual bool modifiesReply() const = 0;
 
     /**
      * Modify reply payload data, if appropriate.
@@ -240,16 +240,16 @@ class YARP_OS_API yarp::os::Connection
      *
      * @param params output carrier properties
      */
-    virtual void getCarrierParams(yarp::os::Property& params) = 0;
+    virtual void getCarrierParams(yarp::os::Property& params) const = 0;
 
     /**
      * Provide 8 bytes describing this connection sufficiently to
      * allow the other side of a connection to select it.
      *
-     * @param header a buffer to hold the first 8 bytes to send on a
-     *               connection
+     * @param[out] header a buffer to hold the first 8 bytes to send on a
+     *                    connection
      */
-    virtual void getHeader(const yarp::os::Bytes& header) = 0;
+    virtual void getHeader(yarp::os::Bytes& header) const = 0;
 
     /**
      * Do cleanup and preparation for the coming disconnect, if
@@ -262,26 +262,26 @@ class YARP_OS_API yarp::os::Connection
      *
      * @return the name of this connection type
      */
-    virtual std::string getName() = 0;
+    virtual std::string getName() const = 0;
 };
 
 
 class YARP_OS_API yarp::os::NullConnection : public Connection
 {
 public:
-    virtual bool isValid() override { return false; }
-    virtual bool isTextMode() override { return true; }
-    virtual bool canEscape() override { return true; }
+    virtual bool isValid() const override { return false; }
+    virtual bool isTextMode() const override { return true; }
+    virtual bool canEscape() const override { return true; }
     virtual void handleEnvelope(const std::string& envelope) override { YARP_UNUSED(envelope); }
-    virtual bool requireAck() override { return false; }
-    virtual bool supportReply() override { return false; }
-    virtual bool isLocal() override { return false; }
-    virtual bool isPush() override { return true; }
-    virtual bool isConnectionless() override { return false; }
-    virtual bool isBroadcast() override { return false; }
-    virtual bool isActive() override { return false; }
+    virtual bool requireAck() const override { return false; }
+    virtual bool supportReply() const override { return false; }
+    virtual bool isLocal() const override { return false; }
+    virtual bool isPush() const override { return true; }
+    virtual bool isConnectionless() const override { return false; }
+    virtual bool isBroadcast() const override { return false; }
+    virtual bool isActive() const override { return false; }
 
-    virtual bool modifiesIncomingData() override { return false; }
+    virtual bool modifiesIncomingData() const override { return false; }
 
     virtual yarp::os::ConnectionReader& modifyIncomingData(yarp::os::ConnectionReader& reader) override
     {
@@ -294,23 +294,23 @@ class YARP_OS_API yarp::os::NullConnection : public Connection
         return true;
     }
 
-    virtual bool modifiesOutgoingData() override
+    virtual bool modifiesOutgoingData() const override
     {
         return false;
     }
 
-    virtual PortWriter& modifyOutgoingData(PortWriter& writer) override
+    virtual const PortWriter& modifyOutgoingData(const PortWriter& writer) override
     {
         return writer;
     }
 
-    virtual bool acceptOutgoingData(PortWriter& writer) override
+    virtual bool acceptOutgoingData(const PortWriter& writer) override
     {
         YARP_UNUSED(writer);
         return true;
     }
 
-    virtual bool modifiesReply() override
+    virtual bool modifiesReply() const override
     {
         return false;
     }
@@ -325,12 +325,12 @@ class YARP_OS_API yarp::os::NullConnection : public Connection
         YARP_UNUSED(params);
     }
 
-    virtual void getCarrierParams(yarp::os::Property& params) override
+    virtual void getCarrierParams(yarp::os::Property& params) const override
     {
         YARP_UNUSED(params);
     }
 
-    virtual void getHeader(const yarp::os::Bytes& header) override
+    virtual void getHeader(yarp::os::Bytes& header) const override
     {
         for (size_t i=0; i<header.length(); i++) {
             header.get()[i] = '\0';
@@ -339,7 +339,7 @@ class YARP_OS_API yarp::os::NullConnection : public Connection
 
     virtual void prepareDisconnect() override {}
 
-    virtual std::string getName() override
+    virtual std::string getName() const override
     {
         return "null";
     }
diff --git a/src/libYARP_OS/include/yarp/os/ConnectionReader.h b/src/libYARP_OS/include/yarp/os/ConnectionReader.h
index 2e2e7cfdd47..1128f955ca3 100644
--- a/src/libYARP_OS/include/yarp/os/ConnectionReader.h
+++ b/src/libYARP_OS/include/yarp/os/ConnectionReader.h
@@ -45,7 +45,7 @@ class YARP_OS_API yarp::os::ConnectionReader {
      *
      * @return true on success
      */
-    virtual bool expectBlock(const char *data, size_t len) = 0;
+    virtual bool expectBlock(char *data, size_t len) = 0;
 
     /**
      * Read some text from the network connection.
@@ -112,14 +112,14 @@ class YARP_OS_API yarp::os::ConnectionReader {
      * representation of your data structure.
      * @return true if the connection is text mode (as opposed to binary)
      */
-    virtual bool isTextMode() = 0;
+    virtual bool isTextMode() const = 0;
 
     /**
      * Check if the connection is bare mode.  If it is, you are
      * encouraged to omit type information from your serialization.
      * @return true if the connection is bare
      */
-    virtual bool isBareMode() = 0;
+    virtual bool isBareMode() const = 0;
 
     /**
      * Reads in a standard description in text mode, and converts
@@ -135,7 +135,7 @@ class YARP_OS_API yarp::os::ConnectionReader {
      * Checks how much data is available.
      * @return the number of bytes left on the connection.
      */
-    virtual size_t getSize() = 0;
+    virtual size_t getSize() const = 0;
 
 
     /**
@@ -159,7 +159,7 @@ class YARP_OS_API yarp::os::ConnectionReader {
      * this returns nullptr.
      * @return The message object, or nullptr if not available
      */
-    virtual Portable *getReference() = 0;
+    virtual Portable *getReference() const = 0;
 
     /**
      * Gets information about who is supplying the data being read, if
@@ -168,7 +168,7 @@ class YARP_OS_API yarp::os::ConnectionReader {
      * @return contact information about sender (Contact::invalid if not
      * available)
      */
-    virtual Contact getRemoteContact() = 0;
+    virtual Contact getRemoteContact() const = 0;
 
     /**
      * Gets information about who is receiving the data, if that
@@ -177,19 +177,19 @@ class YARP_OS_API yarp::os::ConnectionReader {
      * @return contact information about sender (Contact::invalid if not
      * available)
      */
-    virtual Contact getLocalContact() = 0;
+    virtual Contact getLocalContact() const = 0;
 
     /**
      * @return true if the reader is valid.  Invalid readers may signal
      * a shutdown.
      */
-    virtual bool isValid() = 0;
+    virtual bool isValid() const = 0;
 
     /**
      * @return true if the reader is active.  Readers become inactive
      * if the connection they are associated with breaks.
      */
-    virtual bool isActive() = 0;
+    virtual bool isActive() const = 0;
 
     /**
      * @return true if the reader encountered an error.  Readers can
@@ -197,7 +197,7 @@ class YARP_OS_API yarp::os::ConnectionReader {
      * protocols like UDP/Multicast, where losses are not unexpected,
      * this error flag will be reset for the next incoming message.
      */
-    virtual bool isError() = 0;
+    virtual bool isError() const = 0;
 
     /**
      * Tag the connection to be dropped after the current message.
@@ -210,7 +210,7 @@ class YARP_OS_API yarp::os::ConnectionReader {
      * @return connection configuration object
      *
      */
-    virtual Searchable& getConnectionModifiers() = 0;
+    virtual const Searchable& getConnectionModifiers() const = 0;
 
     /**
      * Store an integer to return on the next call to expectInt()
diff --git a/src/libYARP_OS/include/yarp/os/ConnectionState.h b/src/libYARP_OS/include/yarp/os/ConnectionState.h
index 75bde42517e..2ecbdde0381 100644
--- a/src/libYARP_OS/include/yarp/os/ConnectionState.h
+++ b/src/libYARP_OS/include/yarp/os/ConnectionState.h
@@ -40,7 +40,7 @@ class YARP_OS_API yarp::os::ConnectionState {
      * Get the route associated with this connection. A route is
      * a triplet of the source port, destination port, and carrier.
      */
-    virtual const Route& getRoute() = 0;
+    virtual const Route& getRoute() const = 0;
 
     /**
      * Set the route associated with this connection.
@@ -72,13 +72,13 @@ class YARP_OS_API yarp::os::ConnectionState {
     /**
      * Access a connection-specific logging object.
      */
-    virtual Log& getLog() = 0;
+    virtual Log& getLog() const = 0;
 
     /**
      * Extract a name for the sender, if the connection
      * type supports that.
      */
-    virtual std::string getSenderSpecifier() = 0;
+    virtual std::string getSenderSpecifier() const = 0;
 
     /**
      * Access the streams associated with the connection.
@@ -110,12 +110,12 @@ class YARP_OS_API yarp::os::ConnectionState {
     /**
      * Check whether streams are in a good state.
      */
-    virtual bool checkStreams() = 0;
+    virtual bool checkStreams() const = 0;
 
     /**
      * Get the port associated with the connection.
      */
-    virtual Contactable *getContactable() = 0;
+    virtual Contactable *getContactable() const = 0;
 
 
     /**
@@ -136,7 +136,7 @@ class YARP_OS_API yarp::os::ConnectionState {
     /**
      * Read the envelope associated with the current message.
      */
-    virtual const std::string& getEnvelope() = 0;
+    virtual const std::string& getEnvelope() const = 0;
 };
 
 #endif // YARP_OS_CONNECTIONSTATE_H
diff --git a/src/libYARP_OS/include/yarp/os/ConnectionWriter.h b/src/libYARP_OS/include/yarp/os/ConnectionWriter.h
index c85dba3b120..85ff19d5194 100644
--- a/src/libYARP_OS/include/yarp/os/ConnectionWriter.h
+++ b/src/libYARP_OS/include/yarp/os/ConnectionWriter.h
@@ -132,14 +132,14 @@ class YARP_OS_API yarp::os::ConnectionWriter {
      * representation of your data structure.
      * @return true if the connection is text mode (as opposed to binary)
      */
-    virtual bool isTextMode() = 0;
+    virtual bool isTextMode() const = 0;
 
     /**
      * Check if the connection is bare mode.  If it is, you are
      * encouraged to omit type information from your serialization.
      * @return true if the connection is bare
      */
-    virtual bool isBareMode() = 0;
+    virtual bool isBareMode() const = 0;
 
     /**
      * If you can easily determine how many blocks there are in a message,
@@ -181,13 +181,13 @@ class YARP_OS_API yarp::os::ConnectionWriter {
      * @return true if the writer is valid.  A writer may be invalid
      * if a connection has closed.
      */
-    virtual bool isValid() = 0;
+    virtual bool isValid() const = 0;
 
     /**
      * @return true if the writer is active.  Writers may become inactive
      * if the connection they are associated with breaks.
      */
-    virtual bool isActive() = 0;
+    virtual bool isActive() const = 0;
 
     /**
      * @return true if the writer encountered an error.  Writers can
@@ -195,7 +195,7 @@ class YARP_OS_API yarp::os::ConnectionWriter {
      * protocols like UDP/Multicast, where losses are not unexpected,
      * this error flag will be reset for the next incoming message.
      */
-    virtual bool isError() = 0;
+    virtual bool isError() const = 0;
 
 
     /**
@@ -218,7 +218,7 @@ class YARP_OS_API yarp::os::ConnectionWriter {
      * @return a buffer if one is present.
      *
      */
-    virtual SizedWriter *getBuffer() = 0;
+    virtual SizedWriter *getBuffer() const = 0;
 
 
     virtual void appendRawString(const std::string& str) {
diff --git a/src/libYARP_OS/include/yarp/os/Face.h b/src/libYARP_OS/include/yarp/os/Face.h
index 3133b938661..15a3e19294c 100644
--- a/src/libYARP_OS/include/yarp/os/Face.h
+++ b/src/libYARP_OS/include/yarp/os/Face.h
@@ -85,7 +85,7 @@ class YARP_OS_API yarp::os::Face {
      * @return an address
      *
      */
-    virtual Contact getLocalAddress() {
+    virtual Contact getLocalAddress() const {
         return Contact();
     }
 };
diff --git a/src/libYARP_OS/include/yarp/os/InputProtocol.h b/src/libYARP_OS/include/yarp/os/InputProtocol.h
index 1bb2e6ca546..e72a2731834 100644
--- a/src/libYARP_OS/include/yarp/os/InputProtocol.h
+++ b/src/libYARP_OS/include/yarp/os/InputProtocol.h
@@ -68,7 +68,7 @@ class YARP_OS_API yarp::os::InputProtocol {
      * a triplet of the source port, destination port, and carrier.
      *
      */
-    virtual const Route& getRoute() = 0;
+    virtual const Route& getRoute() const = 0;
 
     /**
      *
@@ -115,7 +115,7 @@ class YARP_OS_API yarp::os::InputProtocol {
      * Check if the connection is valid and can be used.
      *
      */
-    virtual bool isOk() = 0;
+    virtual bool isOk() const = 0;
 
     /**
      *
@@ -175,7 +175,7 @@ class YARP_OS_API yarp::os::InputProtocol {
      * @return true if a reply will be made to a message.
      *
      */
-    virtual bool isReplying() = 0;
+    virtual bool isReplying() const = 0;
 };
 
 #endif // YARP_OS_INPUTPROTOCOL_H
diff --git a/src/libYARP_OS/include/yarp/os/InputStream.h b/src/libYARP_OS/include/yarp/os/InputStream.h
index a0dfdbfd655..2c96239de2d 100644
--- a/src/libYARP_OS/include/yarp/os/InputStream.h
+++ b/src/libYARP_OS/include/yarp/os/InputStream.h
@@ -45,7 +45,7 @@ class YARP_OS_API InputStream
 
     /**
      * Read and return a single byte.  Should block and wait for data.
-     * By default, this calls read(const Bytes& b) to do its work.
+     * By default, this calls read(Bytes& b) to do its work.
      *
      * @return a byte from the stream (0-255), or -1 on failure.
      */
@@ -53,32 +53,32 @@ class YARP_OS_API InputStream
 
     /**
      * Read a block of data from the stream.  Should block and wait
-     * for data. By default, this calls read(const Bytes& b) to do
+     * for data. By default, this calls read(Bytes& b) to do
      * its work.
      *
-     * @param b the block of data to read to
+     * @param[out] b the block of data to read to
      * @param offset an offset within the block to start at
      * @param len the number of bytes to read
      *
      * @return the number of bytes read, or -1 upon error
      */
-    virtual yarp::conf::ssize_t read(const Bytes& b, size_t offset, yarp::conf::ssize_t len);
+    virtual yarp::conf::ssize_t read(Bytes& b, size_t offset, yarp::conf::ssize_t len);
 
     /**
      * Read a block of data from the stream.  Should block and wait
      * for data.
      *
-     * @param b the block of data to read to
+     * @param b[out] the block of data to read to
      *
      * @return the number of bytes read, or -1 upon error
      */
-    virtual yarp::conf::ssize_t read(const yarp::os::Bytes& b) = 0;
+    virtual yarp::conf::ssize_t read(yarp::os::Bytes& b) = 0;
 
 
     /**
      * Like read, but solicit partial responses.
      */
-    virtual yarp::conf::ssize_t partialRead(const yarp::os::Bytes& b);
+    virtual yarp::conf::ssize_t partialRead(yarp::os::Bytes& b);
 
     /**
      * Terminate the stream.
@@ -96,7 +96,7 @@ class YARP_OS_API InputStream
      *
      * @return true iff the stream is ok
      */
-    virtual bool isOk() = 0;
+    virtual bool isOk() const = 0;
 
     /**
      * Set activity timeout.  Support for this is optional. 0 = wait forever.
@@ -112,7 +112,7 @@ class YARP_OS_API InputStream
     /**
      * Keep reading until buffer is full.
      */
-    yarp::conf::ssize_t readFull(const Bytes& b);
+    yarp::conf::ssize_t readFull(Bytes& b);
 
     /**
      * Read and discard a fixed number of bytes.
diff --git a/src/libYARP_OS/include/yarp/os/ManagedBytes.h b/src/libYARP_OS/include/yarp/os/ManagedBytes.h
index 7407c307843..d3d12d19c3a 100644
--- a/src/libYARP_OS/include/yarp/os/ManagedBytes.h
+++ b/src/libYARP_OS/include/yarp/os/ManagedBytes.h
@@ -90,10 +90,15 @@ class YARP_OS_API yarp::os::ManagedBytes : public Portable {
      */
     size_t used() const;
 
+    /**
+     * @return address of data block (const version)
+     */
+    const char* get() const;
+
     /**
      * @return address of data block
      */
-    char *get() const;
+    char* get();
 
     /**
      * Disassociate object with any data block (deleting block if appropriate).
@@ -101,10 +106,15 @@ class YARP_OS_API yarp::os::ManagedBytes : public Portable {
     void clear();
 
     /**
-     * @return description of data block associated with this object
+     * @return description of data block associated with this object (const
+     * version)
      */
-    const Bytes& bytes();
+    const Bytes& bytes() const;
 
+    /**
+     * @return description of data block associated with this object
+     */
+    Bytes& bytes();
 
     /**
      * @return description of used portion of data block associated
@@ -128,7 +138,7 @@ class YARP_OS_API yarp::os::ManagedBytes : public Portable {
 
     bool read(ConnectionReader& reader) override;
 
-    bool write(ConnectionWriter& writer) override;
+    bool write(ConnectionWriter& writer) const override;
 
     /**
      *
diff --git a/src/libYARP_OS/include/yarp/os/ModifyingCarrier.h b/src/libYARP_OS/include/yarp/os/ModifyingCarrier.h
index a3d23f54b12..b0b2e1c60b5 100644
--- a/src/libYARP_OS/include/yarp/os/ModifyingCarrier.h
+++ b/src/libYARP_OS/include/yarp/os/ModifyingCarrier.h
@@ -25,18 +25,18 @@ namespace yarp {
 class YARP_OS_API yarp::os::ModifyingCarrier : public AbstractCarrier {
 public:
 
-    virtual Carrier *create() override = 0;
+    virtual Carrier *create() const override = 0;
 
-    virtual std::string getName() override = 0;
+    virtual std::string getName() const override = 0;
 
     virtual bool checkHeader(const yarp::os::Bytes &header) override;
-    virtual void getHeader(const yarp::os::Bytes &header) override;
+    virtual void getHeader(yarp::os::Bytes &header) const override;
     virtual bool respondToHeader(yarp::os::ConnectionState& proto) override;
-    virtual bool modifiesIncomingData() override;
-    virtual bool modifiesOutgoingData() override;
-    virtual bool modifiesReply() override;
+    virtual bool modifiesIncomingData() const override;
+    virtual bool modifiesOutgoingData() const override;
+    virtual bool modifiesReply() const override;
     virtual void setCarrierParams(const yarp::os::Property& params) override;
-    virtual void getCarrierParams(yarp::os::Property& params) override;
+    virtual void getCarrierParams(yarp::os::Property& params) const override;
     virtual bool configureFromProperty(yarp::os::Property& prop) override;
     // only remains to implement modifyIncomingData()
 };
diff --git a/src/libYARP_OS/include/yarp/os/NetType.h b/src/libYARP_OS/include/yarp/os/NetType.h
index 597446627d9..30d394a7410 100644
--- a/src/libYARP_OS/include/yarp/os/NetType.h
+++ b/src/libYARP_OS/include/yarp/os/NetType.h
@@ -30,7 +30,7 @@ class YARP_OS_API yarp::os::NetType {
 public:
 
     static int netInt(const yarp::os::Bytes& code);
-    static bool netInt(int data, const yarp::os::Bytes& code);
+    static bool netInt(int data, yarp::os::Bytes& code);
     static std::string toHexString(int x);
     static std::string toString(int x);
     static std::string toString(long x);
diff --git a/src/libYARP_OS/include/yarp/os/NullConnectionReader.h b/src/libYARP_OS/include/yarp/os/NullConnectionReader.h
index df15724e43e..87b21eb9fd9 100644
--- a/src/libYARP_OS/include/yarp/os/NullConnectionReader.h
+++ b/src/libYARP_OS/include/yarp/os/NullConnectionReader.h
@@ -28,7 +28,7 @@ class YARP_OS_API yarp::os::NullConnectionReader : public ConnectionReader {
 private:
     Value blank;
 public:
-    virtual bool expectBlock(const char *data, size_t len) override;
+    virtual bool expectBlock(char *data, size_t len) override;
     virtual std::string expectText(int terminatingChar = '\n') override;
     virtual std::int8_t expectInt8() override;
     virtual std::int16_t expectInt16() override;
@@ -37,19 +37,19 @@ class YARP_OS_API yarp::os::NullConnectionReader : public ConnectionReader {
     virtual yarp::conf::float32_t expectFloat32() override;
     virtual yarp::conf::float64_t expectFloat64() override;
     virtual bool pushInt(int x) override;
-    virtual bool isTextMode() override;
+    virtual bool isTextMode() const override;
     virtual bool convertTextMode() override;
-    virtual size_t getSize() override;
+    virtual size_t getSize() const override;
     virtual ConnectionWriter *getWriter() override;
     virtual Bytes readEnvelope() override;
-    virtual Portable *getReference() override;
-    virtual Contact getRemoteContact() override;
-    virtual Contact getLocalContact() override;
-    virtual bool isValid() override;
-    virtual bool isActive() override;
-    virtual bool isError() override;
+    virtual Portable *getReference() const override;
+    virtual Contact getRemoteContact() const override;
+    virtual Contact getLocalContact() const override;
+    virtual bool isValid() const override;
+    virtual bool isActive() const override;
+    virtual bool isError() const override;
     virtual void requestDrop() override;
-    virtual Searchable& getConnectionModifiers() override;
+    virtual const Searchable& getConnectionModifiers() const override;
 };
 
 
diff --git a/src/libYARP_OS/include/yarp/os/NullConnectionWriter.h b/src/libYARP_OS/include/yarp/os/NullConnectionWriter.h
index fcf19fb7eca..5fcc5a4fff4 100644
--- a/src/libYARP_OS/include/yarp/os/NullConnectionWriter.h
+++ b/src/libYARP_OS/include/yarp/os/NullConnectionWriter.h
@@ -34,18 +34,18 @@ class YARP_OS_API yarp::os::NullConnectionWriter : public ConnectionWriter {
     virtual void appendFloat64(yarp::conf::float64_t data) override;
     virtual void appendString(const char *str, int terminate = '\n') override;
     virtual void appendExternalBlock(const char *data, size_t len) override;
-    virtual bool isTextMode() override;
-    virtual bool isBareMode() override;
+    virtual bool isTextMode() const override;
+    virtual bool isBareMode() const override;
     virtual void declareSizes(int argc, int *argv) override;
     virtual void setReplyHandler(PortReader& reader) override;
     virtual void setReference(Portable *obj) override;
     virtual bool convertTextMode() override;
-    virtual bool isValid() override;
-    virtual bool isActive() override;
-    virtual bool isError() override;
+    virtual bool isValid() const override;
+    virtual bool isActive() const override;
+    virtual bool isError() const override;
     virtual void requestDrop() override;
     virtual bool isNull() const override;
-    virtual SizedWriter *getBuffer() override;
+    virtual SizedWriter *getBuffer() const override;
 };
 
 #endif // YARP_OS_NULLCONNECTIONWRITER_H
diff --git a/src/libYARP_OS/include/yarp/os/OutputProtocol.h b/src/libYARP_OS/include/yarp/os/OutputProtocol.h
index 6fbbd419659..9c2a6d083e3 100644
--- a/src/libYARP_OS/include/yarp/os/OutputProtocol.h
+++ b/src/libYARP_OS/include/yarp/os/OutputProtocol.h
@@ -56,14 +56,14 @@ class YARP_OS_API yarp::os::OutputProtocol {
      */
     virtual void close() = 0;
 
-    virtual const Route& getRoute() = 0;
+    virtual const Route& getRoute() const = 0;
 
     /**
      *
      * Check if the connection is valid and can be used.
      *
      */
-    virtual bool isOk() = 0;
+    virtual bool isOk() const = 0;
 
     /**
      *
diff --git a/src/libYARP_OS/include/yarp/os/OutputStream.h b/src/libYARP_OS/include/yarp/os/OutputStream.h
index bfce8654424..2f69315a355 100644
--- a/src/libYARP_OS/include/yarp/os/OutputStream.h
+++ b/src/libYARP_OS/include/yarp/os/OutputStream.h
@@ -77,7 +77,7 @@ class YARP_OS_API OutputStream
      *
      * @return true iff the stream is ok
      */
-    virtual bool isOk() = 0;
+    virtual bool isOk() const = 0;
 
     /**
      * Set activity timeout.  Support for this is optional. 0 = wait forever.
diff --git a/src/libYARP_OS/include/yarp/os/Port.h b/src/libYARP_OS/include/yarp/os/Port.h
index f8485d6ba71..ba0ff426697 100644
--- a/src/libYARP_OS/include/yarp/os/Port.h
+++ b/src/libYARP_OS/include/yarp/os/Port.h
@@ -112,11 +112,13 @@ class YARP_OS_API Port : public UnbufferedContactable
     Contact where() const override;
 
     // Documented in UnbufferedContactable
-    bool write(PortWriter& writer, PortWriter *callback = nullptr) const override;
+    bool write(const PortWriter& writer,
+               const PortWriter *callback = nullptr) const override;
 
     // Documented in UnbufferedContactable
-    bool write(PortWriter& writer, PortReader& reader,
-               PortWriter *callback = nullptr) const override;
+    bool write(const PortWriter& writer,
+               PortReader& reader,
+               const PortWriter *callback = nullptr) const override;
 
     // Documented in UnbufferedContactable
     bool read(PortReader& reader, bool willReply = false) override;
diff --git a/src/libYARP_OS/include/yarp/os/PortReaderBuffer-inl.h b/src/libYARP_OS/include/yarp/os/PortReaderBuffer-inl.h
index c67cf6f2533..321c6607702 100644
--- a/src/libYARP_OS/include/yarp/os/PortReaderBuffer-inl.h
+++ b/src/libYARP_OS/include/yarp/os/PortReaderBuffer-inl.h
@@ -149,7 +149,7 @@ bool yarp::os::PortReaderBuffer<T>::read(ConnectionReader& connection)
 }
 
 template <typename T>
-yarp::os::PortReader* yarp::os::PortReaderBuffer<T>::create()
+yarp::os::PortReader* yarp::os::PortReaderBuffer<T>::create() const
 {
     return new T;
 }
diff --git a/src/libYARP_OS/include/yarp/os/PortReaderBuffer.h b/src/libYARP_OS/include/yarp/os/PortReaderBuffer.h
index 031bf954424..eeaaa62fa82 100644
--- a/src/libYARP_OS/include/yarp/os/PortReaderBuffer.h
+++ b/src/libYARP_OS/include/yarp/os/PortReaderBuffer.h
@@ -116,7 +116,7 @@ class yarp::os::PortReaderBuffer :
      *
      * @return new instance of the templated type.
      */
-    virtual PortReader *create() override;
+    virtual PortReader *create() const override;
 
     // documented in TypedReader
     virtual void setReplier(PortReader& reader) override;
diff --git a/src/libYARP_OS/include/yarp/os/PortReaderBufferBaseCreator.h b/src/libYARP_OS/include/yarp/os/PortReaderBufferBaseCreator.h
index 9596c39916f..8ff5140c837 100644
--- a/src/libYARP_OS/include/yarp/os/PortReaderBufferBaseCreator.h
+++ b/src/libYARP_OS/include/yarp/os/PortReaderBufferBaseCreator.h
@@ -22,7 +22,7 @@ class YARP_OS_API PortReaderBufferBaseCreator
 public:
     virtual ~PortReaderBufferBaseCreator();
 
-    virtual yarp::os::PortReader *create() = 0;
+    virtual yarp::os::PortReader *create() const = 0;
 };
 
 } // namespace os
diff --git a/src/libYARP_OS/include/yarp/os/PortReaderCreator.h b/src/libYARP_OS/include/yarp/os/PortReaderCreator.h
index 4b56078a30c..2b852141fc3 100644
--- a/src/libYARP_OS/include/yarp/os/PortReaderCreator.h
+++ b/src/libYARP_OS/include/yarp/os/PortReaderCreator.h
@@ -45,7 +45,7 @@ class YARP_OS_API yarp::os::PortReaderCreator {
      * @return A new PortReader object -- used to read from a connection to
      * a Port
      */
-    virtual PortReader *create() = 0;
+    virtual PortReader *create() const = 0;
 
 };
 
diff --git a/src/libYARP_OS/include/yarp/os/PortWriter.h b/src/libYARP_OS/include/yarp/os/PortWriter.h
index 2fd46f5e88f..0d119b5d718 100644
--- a/src/libYARP_OS/include/yarp/os/PortWriter.h
+++ b/src/libYARP_OS/include/yarp/os/PortWriter.h
@@ -42,12 +42,12 @@ class YARP_OS_API PortWriter
      * @param writer an interface to the network connection for writing
      * @return true iff the object is successfully written
      */
-    virtual bool write(ConnectionWriter& writer) = 0;
+    virtual bool write(ConnectionWriter& writer) const = 0;
 
     /**
      * This is called when the port has finished all writing operations.
      */
-    virtual void onCompletion();
+    virtual void onCompletion() const;
 
     /**
      * This is called when the port is about to begin writing operations.
@@ -55,7 +55,7 @@ class YARP_OS_API PortWriter
      * many times by YARP depending on the mix of formats and protocols
      * in use.
      */
-    virtual void onCommencement();
+    virtual void onCommencement() const;
 
     virtual yarp::os::Type getWriteType() const;
 };
diff --git a/src/libYARP_OS/include/yarp/os/PortWriterBuffer.h b/src/libYARP_OS/include/yarp/os/PortWriterBuffer.h
index dc8c5fecddd..47e0f0e244b 100644
--- a/src/libYARP_OS/include/yarp/os/PortWriterBuffer.h
+++ b/src/libYARP_OS/include/yarp/os/PortWriterBuffer.h
@@ -48,16 +48,16 @@ class yarp::os::PortWriterBufferAdaptor : public PortWriterWrapper {
                             void *tracker) :
         creator(creator), tracker(tracker) {}
 
-    virtual bool write(ConnectionWriter& connection) override {
+    virtual bool write(ConnectionWriter& connection) const override {
         return writer.write(connection);
     }
 
-    virtual void onCompletion() override {
+    virtual void onCompletion() const override {
         writer.onCompletion();
         creator.onCompletion(tracker);
     }
 
-    virtual void onCommencement() override {
+    virtual void onCommencement() const override {
         writer.onCommencement();
     }
 
@@ -75,7 +75,7 @@ class YARP_OS_API yarp::os::PortWriterBufferBase {
     virtual PortWriterWrapper *create(PortWriterBufferManager& man,
                                       void *tracker) = 0;
 
-    void *getContent();
+    const void* getContent() const;
 
     bool releaseContent();
 
diff --git a/src/libYARP_OS/include/yarp/os/Portable.h b/src/libYARP_OS/include/yarp/os/Portable.h
index 7a8279bf508..7707f1db76d 100644
--- a/src/libYARP_OS/include/yarp/os/Portable.h
+++ b/src/libYARP_OS/include/yarp/os/Portable.h
@@ -31,7 +31,7 @@ class YARP_OS_API Portable : public PortReader,
     // reiterate the key inherited virtual methods, just as a reminder
 
     virtual bool read(ConnectionReader& reader) override = 0;
-    virtual bool write(ConnectionWriter& writer) override = 0;
+    virtual bool write(ConnectionWriter& writer) const override = 0;
 
     virtual Type getType() const;
 
diff --git a/src/libYARP_OS/include/yarp/os/PortablePair.h b/src/libYARP_OS/include/yarp/os/PortablePair.h
index ca306f93f1b..a5cd4a0af46 100644
--- a/src/libYARP_OS/include/yarp/os/PortablePair.h
+++ b/src/libYARP_OS/include/yarp/os/PortablePair.h
@@ -41,8 +41,8 @@ class YARP_OS_API yarp::os::PortablePairBase : public Portable {
      * @return true iff the object pair was successfully written
      */
     static bool writePair(ConnectionWriter& connection,
-                          Portable& head,
-                          Portable& body);
+                          const Portable& head,
+                          const Portable& body);
 };
 
 /**
@@ -76,7 +76,7 @@ class yarp::os::PortablePair : public PortablePairBase {
      * @param connection an interface to the network connection for writing
      * @return true iff the object pair was successfully written
      */
-    virtual bool write(ConnectionWriter& connection) override {
+    virtual bool write(ConnectionWriter& connection) const override {
         return writePair(connection, head, body);
     }
 
@@ -84,7 +84,7 @@ class yarp::os::PortablePair : public PortablePairBase {
      * This is called when the port has finished all writing operations.
      * Passes call on to head and body.
      */
-    virtual void onCompletion() override {
+    virtual void onCompletion() const override {
         head.onCompletion();
         body.onCompletion();
     }
diff --git a/src/libYARP_OS/include/yarp/os/Property.h b/src/libYARP_OS/include/yarp/os/Property.h
index f168ca3cb91..bc524b42abf 100644
--- a/src/libYARP_OS/include/yarp/os/Property.h
+++ b/src/libYARP_OS/include/yarp/os/Property.h
@@ -427,7 +427,7 @@ class YARP_OS_API yarp::os::Property : public Searchable, public Portable {
     bool read(ConnectionReader& reader) override;
 
     // documented in Portable
-    bool write(ConnectionWriter& writer) override;
+    bool write(ConnectionWriter& writer) const override;
 
 private:
     void *implementation;
diff --git a/src/libYARP_OS/include/yarp/os/RpcServer.h b/src/libYARP_OS/include/yarp/os/RpcServer.h
index 713a31c7192..9db84fe6871 100644
--- a/src/libYARP_OS/include/yarp/os/RpcServer.h
+++ b/src/libYARP_OS/include/yarp/os/RpcServer.h
@@ -43,12 +43,13 @@ class YARP_OS_API yarp::os::RpcServer : public AbstractContactable {
     virtual ~RpcServer();
 
     // documented in UnbufferedContactable
-    virtual bool write(PortWriter& writer,
-                       PortWriter *callback = nullptr) const override;
+    virtual bool write(const PortWriter& writer,
+                       const PortWriter *callback = nullptr) const override;
 
     // documented in UnbufferedContactable
-    virtual bool write(PortWriter& writer, PortReader& reader,
-                       PortWriter *callback = nullptr) const override;
+    virtual bool write(const PortWriter& writer,
+                       PortReader& reader,
+                       const PortWriter *callback = nullptr) const override;
 
     // documented in UnbufferedContactable
     virtual bool read(PortReader& reader, bool willReply = true) override;
diff --git a/src/libYARP_OS/include/yarp/os/SharedLibraryClass.h b/src/libYARP_OS/include/yarp/os/SharedLibraryClass.h
index cd14b321737..4f7a832f14d 100644
--- a/src/libYARP_OS/include/yarp/os/SharedLibraryClass.h
+++ b/src/libYARP_OS/include/yarp/os/SharedLibraryClass.h
@@ -104,7 +104,7 @@ class yarp::os::SharedLibraryClass {
      *
      * @return the created instance
      */
-    T& getContent() {
+    T& getContent() const {
         return *content;
     }
 
diff --git a/src/libYARP_OS/include/yarp/os/ShiftStream.h b/src/libYARP_OS/include/yarp/os/ShiftStream.h
index 86181d70207..dbe1ab915b1 100644
--- a/src/libYARP_OS/include/yarp/os/ShiftStream.h
+++ b/src/libYARP_OS/include/yarp/os/ShiftStream.h
@@ -44,7 +44,7 @@ class YARP_OS_API yarp::os::ShiftStream : public TwoWayStream {
     /**
      * Perform maintenance actions, if needed.
      */
-    virtual void check() {
+    virtual void check() const {
     }
 
     virtual InputStream& getInputStream() override {
@@ -63,13 +63,13 @@ class YARP_OS_API yarp::os::ShiftStream : public TwoWayStream {
         return stream->getOutputStream();
     }
 
-    virtual const Contact& getLocalAddress() override {
+    virtual const Contact& getLocalAddress() const override {
         check();
         return (stream == nullptr) ? nullStream.getLocalAddress()
                                         : (stream->getLocalAddress());
     }
 
-    virtual const Contact& getRemoteAddress() override {
+    virtual const Contact& getRemoteAddress() const override {
         check();
         return (stream == nullptr) ? nullStream.getRemoteAddress()
                                         : (stream->getRemoteAddress());
@@ -109,18 +109,18 @@ class YARP_OS_API yarp::os::ShiftStream : public TwoWayStream {
      * @return the wrapped stream (which after this call will remain
      * this container's responsibility - compare with giveStream).
      */
-    virtual TwoWayStream *getStream() {
+    virtual TwoWayStream *getStream() const {
         return stream;
     }
 
     /**
      * @return true if there is no wrapped stream.
      */
-    virtual bool isEmpty() {
+    virtual bool isEmpty() const {
         return stream == nullptr;
     }
 
-    virtual bool isOk() override {
+    virtual bool isOk() const override {
         if (stream != nullptr) {
             return stream->isOk();
         }
diff --git a/src/libYARP_OS/include/yarp/os/SizedWriter.h b/src/libYARP_OS/include/yarp/os/SizedWriter.h
index ae8b3e8695c..4a98002cc00 100644
--- a/src/libYARP_OS/include/yarp/os/SizedWriter.h
+++ b/src/libYARP_OS/include/yarp/os/SizedWriter.h
@@ -36,13 +36,13 @@ class YARP_OS_API SizedWriter : public PortWriter
 public:
     virtual ~SizedWriter();
 
-    virtual size_t length() = 0;
+    virtual size_t length() const = 0;
 
-    virtual size_t headerLength() = 0;
+    virtual size_t headerLength() const = 0;
 
-    virtual size_t length(size_t index) = 0;
+    virtual size_t length(size_t index) const = 0;
 
-    virtual const char* data(size_t index) = 0;
+    virtual const char* data(size_t index) const = 0;
 
     virtual PortReader* getReplyHandler() = 0;
 
@@ -50,19 +50,19 @@ class YARP_OS_API SizedWriter : public PortWriter
 
     virtual void write(OutputStream& os);
 
-    virtual bool write(ConnectionWriter& connection) override;
+    virtual bool write(ConnectionWriter& connection) const override;
 
     virtual bool dropRequested() = 0;
 
     /**
      * Call when writing is about to begin.
      */
-    virtual void startWrite() = 0;
+    virtual void startWrite() const = 0;
 
     /**
      * Call when all writing is finished.
      */
-    virtual void stopWrite() = 0;
+    virtual void stopWrite() const = 0;
 
     virtual void clear();
 };
diff --git a/src/libYARP_OS/include/yarp/os/Stamp.h b/src/libYARP_OS/include/yarp/os/Stamp.h
index c9f29d22aea..f605be26853 100644
--- a/src/libYARP_OS/include/yarp/os/Stamp.h
+++ b/src/libYARP_OS/include/yarp/os/Stamp.h
@@ -86,7 +86,7 @@ class YARP_OS_API Stamp : public Portable
     virtual bool read(ConnectionReader& connection) override;
 
     // Documented in Portable
-    virtual bool write(ConnectionWriter& connection) override;
+    virtual bool write(ConnectionWriter& connection) const override;
 };
 
 
diff --git a/src/libYARP_OS/include/yarp/os/StringInputStream.h b/src/libYARP_OS/include/yarp/os/StringInputStream.h
index 477fca9bd17..97d8ab0b58e 100644
--- a/src/libYARP_OS/include/yarp/os/StringInputStream.h
+++ b/src/libYARP_OS/include/yarp/os/StringInputStream.h
@@ -52,7 +52,7 @@ class yarp::os::StringInputStream : public InputStream {
         }
     }
 
-    virtual yarp::conf::ssize_t read(const Bytes& b) override {
+    virtual yarp::conf::ssize_t read(Bytes& b) override {
         char *base = b.get();
         size_t space = b.length();
         yarp::conf::ssize_t ct = 0;
@@ -69,11 +69,11 @@ class yarp::os::StringInputStream : public InputStream {
     virtual void close() override {
     }
 
-    virtual std::string toString() {
+    virtual std::string toString() const {
         return data;
     }
 
-    virtual bool isOk() override {
+    virtual bool isOk() const override {
         return true;
     }
 
diff --git a/src/libYARP_OS/include/yarp/os/StringOutputStream.h b/src/libYARP_OS/include/yarp/os/StringOutputStream.h
index 57d2aa3779d..6bb3792a5ac 100644
--- a/src/libYARP_OS/include/yarp/os/StringOutputStream.h
+++ b/src/libYARP_OS/include/yarp/os/StringOutputStream.h
@@ -29,7 +29,7 @@ class yarp::os::StringOutputStream : public OutputStream {
 
     StringOutputStream() { }
 
-    std::string toString() {
+    std::string toString() const {
         return data;
     }
 
@@ -45,11 +45,11 @@ class yarp::os::StringOutputStream : public OutputStream {
     virtual void close() override {
     }
 
-    virtual bool isOk() override {
+    virtual bool isOk() const override {
         return true;
     }
 
-    const std::string& str() { return data; }
+    const std::string& str() const { return data; }
 
 private:
     std::string data;
diff --git a/src/libYARP_OS/include/yarp/os/SystemInfoSerializer.h b/src/libYARP_OS/include/yarp/os/SystemInfoSerializer.h
index 060a915a53c..9019199adb7 100644
--- a/src/libYARP_OS/include/yarp/os/SystemInfoSerializer.h
+++ b/src/libYARP_OS/include/yarp/os/SystemInfoSerializer.h
@@ -45,7 +45,7 @@ class YARP_OS_API SystemInfoSerializer: public yarp::os::Portable
      * @param connection a ConnectionWriter
      * @return true/false upon success or failure
      */
-    virtual bool write(yarp::os::ConnectionWriter& connection) override;
+    virtual bool write(yarp::os::ConnectionWriter& connection) const override;
 
     /**
      * @brief system memory information
diff --git a/src/libYARP_OS/include/yarp/os/TwoWayStream.h b/src/libYARP_OS/include/yarp/os/TwoWayStream.h
index bbd3d3eb7c4..24984f492cb 100644
--- a/src/libYARP_OS/include/yarp/os/TwoWayStream.h
+++ b/src/libYARP_OS/include/yarp/os/TwoWayStream.h
@@ -55,7 +55,7 @@ class YARP_OS_API yarp::os::TwoWayStream {
      * @return the address of the local side of the stream.
      * The address will be tagged as invalid if the stream is not set up.
      */
-    virtual const Contact& getLocalAddress() = 0;
+    virtual const Contact& getLocalAddress() const = 0;
 
     /**
      * Get the address of the remote side of the stream.
@@ -63,7 +63,7 @@ class YARP_OS_API yarp::os::TwoWayStream {
      * @return the address of the remote side of the stream.
      * The address will be tagged as invalid if the stream is not set up.
      */
-    virtual const Contact& getRemoteAddress() = 0;
+    virtual const Contact& getRemoteAddress() const = 0;
 
     /**
      *
@@ -72,7 +72,7 @@ class YARP_OS_API yarp::os::TwoWayStream {
      * @return true iff the stream is ok
      *
      */
-    virtual bool isOk() = 0;
+    virtual bool isOk() const = 0;
 
     /**
      * Reset the stream.
@@ -118,17 +118,17 @@ class YARP_OS_API yarp::os::NullStream : public TwoWayStream,
     virtual InputStream& getInputStream() override;
     virtual OutputStream& getOutputStream() override;
 
-    virtual const Contact& getLocalAddress() override;
-    virtual const Contact& getRemoteAddress() override;
+    virtual const Contact& getLocalAddress() const override;
+    virtual const Contact& getRemoteAddress() const override;
 
-    virtual bool isOk() override;
+    virtual bool isOk() const override;
     virtual void reset() override;
     virtual void close() override;
     virtual void beginPacket() override;
     virtual void endPacket() override;
 
     using yarp::os::InputStream::read;
-    virtual yarp::conf::ssize_t read(const Bytes& b) override;
+    virtual yarp::conf::ssize_t read(Bytes& b) override;
 
     using yarp::os::OutputStream::write;
     virtual void write(const Bytes& b) override;
diff --git a/src/libYARP_OS/include/yarp/os/UnbufferedContactable.h b/src/libYARP_OS/include/yarp/os/UnbufferedContactable.h
index ba505669b71..0988e1cc2d9 100644
--- a/src/libYARP_OS/include/yarp/os/UnbufferedContactable.h
+++ b/src/libYARP_OS/include/yarp/os/UnbufferedContactable.h
@@ -30,8 +30,8 @@ class YARP_OS_API UnbufferedContactable : public Contactable
      *                 is done (otherwise writer.onCompletion() is called)
      * @return true iff the object is successfully written
      */
-    virtual bool write(PortWriter& writer,
-                       PortWriter* callback = nullptr) const = 0;
+    virtual bool write(const PortWriter& writer,
+                       const PortWriter* callback = nullptr) const = 0;
 
     /**
      * Write an object to the port, then expect one back.
@@ -44,9 +44,9 @@ class YARP_OS_API UnbufferedContactable : public Contactable
      *                 is done (otherwise writer.onCompletion() is called)
      * @return true iff an object is successfully written and read
      */
-    virtual bool write(PortWriter& writer,
+    virtual bool write(const PortWriter& writer,
                        PortReader& reader,
-                       PortWriter* callback = nullptr) const = 0;
+                       const PortWriter* callback = nullptr) const = 0;
 
     /**
      * Read an object from the port.
diff --git a/src/libYARP_OS/include/yarp/os/Value.h b/src/libYARP_OS/include/yarp/os/Value.h
index 2f598c1a2f1..b38e2875db4 100644
--- a/src/libYARP_OS/include/yarp/os/Value.h
+++ b/src/libYARP_OS/include/yarp/os/Value.h
@@ -346,7 +346,7 @@ class YARP_OS_API yarp::os::Value : public Portable,
     virtual bool read(ConnectionReader& connection) override;
 
     // documented in Portable
-    virtual bool write(ConnectionWriter& connection) override;
+    virtual bool write(ConnectionWriter& connection) const override;
 
     // documented in Searchable
     virtual bool check(const std::string& key) const override;
diff --git a/src/libYARP_OS/include/yarp/os/idl/BareStyle.h b/src/libYARP_OS/include/yarp/os/idl/BareStyle.h
index 66295a7be7e..0c2910278ce 100644
--- a/src/libYARP_OS/include/yarp/os/idl/BareStyle.h
+++ b/src/libYARP_OS/include/yarp/os/idl/BareStyle.h
@@ -28,7 +28,7 @@ class yarp::os::idl::BareStyle : public T {
         return T::readBare(reader);
     }
 
-    virtual bool write(yarp::os::ConnectionWriter& writer) override {
+    virtual bool write(yarp::os::ConnectionWriter& writer) const override {
         return T::writeBare(writer);
     }
 };
diff --git a/src/libYARP_OS/include/yarp/os/idl/BottleStyle.h b/src/libYARP_OS/include/yarp/os/idl/BottleStyle.h
index 97817ce1fb9..7de7111f02d 100644
--- a/src/libYARP_OS/include/yarp/os/idl/BottleStyle.h
+++ b/src/libYARP_OS/include/yarp/os/idl/BottleStyle.h
@@ -28,7 +28,7 @@ class yarp::os::idl::BottleStyle : public T {
         return T::readBottle(reader);
     }
 
-    virtual bool write(yarp::os::ConnectionWriter& writer) override {
+    virtual bool write(yarp::os::ConnectionWriter& writer) const override {
         return T::writeBottle(writer);
     }
 };
diff --git a/src/libYARP_OS/include/yarp/os/idl/Unwrapped.h b/src/libYARP_OS/include/yarp/os/idl/Unwrapped.h
index bee4be0f960..84802de8482 100644
--- a/src/libYARP_OS/include/yarp/os/idl/Unwrapped.h
+++ b/src/libYARP_OS/include/yarp/os/idl/Unwrapped.h
@@ -32,7 +32,7 @@ class yarp::os::idl::Unwrapped : public yarp::os::Portable {
         return content.read(wreader);
     }
 
-    virtual bool write(yarp::os::ConnectionWriter& writer) override {
+    virtual bool write(yarp::os::ConnectionWriter& writer) const override {
         WireWriter wwriter(writer);
         return content.write(wwriter);
     }
@@ -50,7 +50,7 @@ class yarp::os::idl::UnwrappedView : public yarp::os::Portable {
         return content.read(wreader);
     }
 
-    virtual bool write(yarp::os::ConnectionWriter& writer) override {
+    virtual bool write(yarp::os::ConnectionWriter& writer) const override {
         WireWriter wwriter(writer);
         return content.write(wwriter);
     }
diff --git a/src/libYARP_OS/include/yarp/os/idl/WirePortable.h b/src/libYARP_OS/include/yarp/os/idl/WirePortable.h
index bffe72824da..e053938dea7 100644
--- a/src/libYARP_OS/include/yarp/os/idl/WirePortable.h
+++ b/src/libYARP_OS/include/yarp/os/idl/WirePortable.h
@@ -34,13 +34,13 @@ class YARP_OS_API yarp::os::idl::WirePortable : public yarp::os::Portable {
 
     virtual bool read(yarp::os::idl::WireReader& reader);
 
-    virtual bool write(yarp::os::idl::WireWriter& writer);
+    virtual bool write(const yarp::os::idl::WireWriter& writer) const;
 
     virtual bool readBare(yarp::os::ConnectionReader& reader) {
         return read(reader);
     }
 
-    virtual bool writeBare(yarp::os::ConnectionWriter& writer) {
+    virtual bool writeBare(yarp::os::ConnectionWriter& writer) const {
         return write(writer);
     }
 
@@ -48,7 +48,7 @@ class YARP_OS_API yarp::os::idl::WirePortable : public yarp::os::Portable {
         return read(reader);
     }
 
-    virtual bool writeBottle(yarp::os::ConnectionWriter& writer) {
+    virtual bool writeBottle(yarp::os::ConnectionWriter& writer) const {
         return write(writer);
     }
 };
diff --git a/src/libYARP_OS/include/yarp/os/idl/WireVocab.h b/src/libYARP_OS/include/yarp/os/idl/WireVocab.h
index db3347ec850..69722cfe8fe 100644
--- a/src/libYARP_OS/include/yarp/os/idl/WireVocab.h
+++ b/src/libYARP_OS/include/yarp/os/idl/WireVocab.h
@@ -23,7 +23,7 @@ class YARP_OS_API yarp::os::idl::WireVocab {
 public:
     virtual ~WireVocab() {}
     virtual int fromString(const std::string& input) = 0;
-    virtual std::string toString(int input) = 0;
+    virtual std::string toString(int input) const = 0;
 };
 
 #endif // YARP_OS_IDL_WIREVOCAB_H
diff --git a/src/libYARP_OS/include/yarp/os/idl/WireWriter.h b/src/libYARP_OS/include/yarp/os/idl/WireWriter.h
index f6e352eae5f..8f9eef6a7fb 100644
--- a/src/libYARP_OS/include/yarp/os/idl/WireWriter.h
+++ b/src/libYARP_OS/include/yarp/os/idl/WireWriter.h
@@ -44,69 +44,69 @@ class YARP_OS_API yarp::os::idl::WireWriter {
 
     bool isNull() const;
 
-    bool write(WirePortable& obj);
+    bool write(const WirePortable& obj) const;
 
-    bool write(yarp::os::PortWriter& obj);
+    bool write(const yarp::os::PortWriter& obj) const;
 
-    bool writeNested(WirePortable& obj);
+    bool writeNested(const WirePortable& obj) const;
 
-    bool writeNested(yarp::os::PortWriter& obj);
+    bool writeNested(const yarp::os::PortWriter& obj) const;
 
-    bool writeBool(bool x);
+    bool writeBool(bool x) const;
 
-    bool writeI8(std::int8_t x);
+    bool writeI8(std::int8_t x) const;
 
-    bool writeI16(std::int16_t x);
+    bool writeI16(std::int16_t x) const;
 
-    bool writeI32(std::int32_t x);
+    bool writeI32(std::int32_t x) const;
 
-    bool writeI64(std::int64_t x);
+    bool writeI64(std::int64_t x) const;
 
-    bool writeFloat32(yarp::conf::float32_t x);
+    bool writeFloat32(yarp::conf::float32_t x) const;
 
-    bool writeFloat64(yarp::conf::float64_t x);
+    bool writeFloat64(yarp::conf::float64_t x) const;
 
 #ifndef YARP_NO_DEPRECATED // Since YARP 3.0.0
     YARP_DEPRECATED_MSG("Use writeI8 instead")
-    bool writeByte(std::int8_t x) { return writeI8(x); }
+    bool writeByte(std::int8_t x) const { return writeI8(x); }
 
     YARP_DEPRECATED_MSG("Use writeFloat64 instead")
-    bool writeDouble(double x) { return writeFloat64(static_cast<yarp::conf::float64_t>(x)); }
+    bool writeDouble(double x) const { return writeFloat64(static_cast<yarp::conf::float64_t>(x)); }
 #endif // YARP_NO_DEPRECATED
 
-    bool writeVocab(std::int32_t x);
+    bool writeVocab(std::int32_t x) const;
 
-    bool isValid();
+    bool isValid() const;
 
-    bool isError();
+    bool isError() const;
 
-    bool writeTag(const char *tag, int split, int len);
+    bool writeTag(const char *tag, int split, int len) const;
 
-    bool writeString(const std::string& tag);
+    bool writeString(const std::string& tag) const;
 
-    bool writeBinary(const std::string& tag);
+    bool writeBinary(const std::string& tag) const;
 
-    bool writeListHeader(int len);
+    bool writeListHeader(int len) const;
 
-    bool writeListBegin(int tag, std::uint32_t len);
+    bool writeListBegin(int tag, std::uint32_t len) const;
 
-    bool writeSetBegin(int tag, std::uint32_t len);
+    bool writeSetBegin(int tag, std::uint32_t len) const;
 
-    bool writeMapBegin(int tag, int tag2, std::uint32_t len);
+    bool writeMapBegin(int tag, int tag2, std::uint32_t len) const;
 
-    bool writeListEnd();
+    bool writeListEnd() const;
 
-    bool writeSetEnd();
+    bool writeSetEnd() const;
 
-    bool writeMapEnd();
+    bool writeMapEnd() const;
 
-    bool writeOnewayResponse();
+    bool writeOnewayResponse() const;
 
 private:
     bool get_mode;
     YARP_SUPPRESS_DLL_INTERFACE_WARNING_ARG(std::string) get_string;
     bool get_is_vocab;
-    bool need_ok;
+    mutable bool need_ok;
     ConnectionWriter& writer;
 };
 
diff --git a/src/libYARP_OS/include/yarp/os/impl/BottleImpl.h b/src/libYARP_OS/include/yarp/os/impl/BottleImpl.h
index f803183048f..1c067a95fa5 100644
--- a/src/libYARP_OS/include/yarp/os/impl/BottleImpl.h
+++ b/src/libYARP_OS/include/yarp/os/impl/BottleImpl.h
@@ -69,21 +69,21 @@ class YARP_OS_impl_API BottleImpl
     void clear();
 
     void fromString(const std::string& line);
-    std::string toString();
+    std::string toString() const;
     size_t size() const;
 
     bool read(ConnectionReader& reader);
-    bool write(ConnectionWriter& writer);
+    bool write(ConnectionWriter& writer) const;
 
     void onCommencement();
 
-    const char* getBytes();
-    size_t byteCount();
+    const char* getBytes() const;
+    size_t byteCount() const;
 
     void copyRange(const BottleImpl* alt, int first = 0, int len = -1);
 
     bool fromBytes(const yarp::os::Bytes& data);
-    void toBytes(const yarp::os::Bytes& data);
+    void toBytes(yarp::os::Bytes& data);
 
     bool fromBytes(yarp::os::ConnectionReader& reader);
 
@@ -151,7 +151,18 @@ class YARP_OS_impl_API BottleImpl
     void add(Storable* s);
     void smartAdd(const std::string& str);
 
+    /*
+     * Bottle is using a lazy syncronization method. Whenever some operation
+     * is performed, a dirty flag is set, and when it is used, the synch()
+     * method is called.
+     *
+     * The const version of the synch() method performs a const_cast, and
+     * calls the non-const version. This allows to call it in const methods.
+     * Conceptually this is not completely wrong because it does not modify
+     * the external state of the class, but just some internal representation.
+     */
     void synch();
+    void synch() const;
 };
 
 } // namespace impl
diff --git a/src/libYARP_OS/include/yarp/os/impl/BufferedConnectionWriter.h b/src/libYARP_OS/include/yarp/os/impl/BufferedConnectionWriter.h
index 042159f7949..1a91e7d10e7 100644
--- a/src/libYARP_OS/include/yarp/os/impl/BufferedConnectionWriter.h
+++ b/src/libYARP_OS/include/yarp/os/impl/BufferedConnectionWriter.h
@@ -121,8 +121,8 @@ class YARP_OS_impl_API BufferedConnectionWriter : public yarp::os::ConnectionWri
     void push(const Bytes& data, bool copy);
 
     // defined by yarp::os::ConnectionWriter
-    virtual bool isTextMode() override;
-    virtual bool isBareMode() override;
+    virtual bool isTextMode() const override;
+    virtual bool isBareMode() const override;
     virtual bool convertTextMode() override;
     virtual void declareSizes(int argc, int* argv) override; // FIXME Remove?
     virtual void setReplyHandler(PortReader& reader) override;
@@ -165,11 +165,11 @@ class YARP_OS_impl_API BufferedConnectionWriter : public yarp::os::ConnectionWri
 
 
     // defined by yarp::os::SizedWriter
-    virtual size_t length() override;
-    virtual size_t headerLength() override;
-    virtual size_t length(size_t index) override;
-    virtual const char* data(size_t index) override;
-    virtual bool write(ConnectionWriter& connection) override;
+    virtual size_t length() const override;
+    virtual size_t headerLength() const override;
+    virtual size_t length(size_t index) const override;
+    virtual const char* data(size_t index) const override;
+    virtual bool write(ConnectionWriter& connection) const override;
     virtual void write(OutputStream& os) override;
 
     /**
@@ -184,7 +184,7 @@ class YARP_OS_impl_API BufferedConnectionWriter : public yarp::os::ConnectionWri
      * @return the size of the message that will be sent, in bytes, including
      * the header and payload.
      */
-    virtual size_t dataSize();
+    virtual size_t dataSize() const;
 
     size_t bufferCount() const;
 
@@ -205,18 +205,18 @@ class YARP_OS_impl_API BufferedConnectionWriter : public yarp::os::ConnectionWri
 
     // defined by yarp::os::ConnectionWriter
     virtual void setReference(yarp::os::Portable* obj) override;
-    virtual bool isValid() override;
-    virtual bool isActive() override;
-    virtual bool isError() override;
+    virtual bool isValid() const override;
+    virtual bool isActive() const override;
+    virtual bool isError() const override;
     virtual void requestDrop() override;
 
     // defined by yarp::os::SizedWriter
     virtual bool dropRequested() override;
-    virtual void startWrite() override;
-    virtual void stopWrite() override;
+    virtual void startWrite() const override;
+    virtual void stopWrite() const override;
 
     // defined by yarp::os::ConnectionWriter
-    virtual SizedWriter* getBuffer() override;
+    virtual SizedWriter* getBuffer() const override;
 
     /**
      * Set a custom initial pool size, which affects the size of buffers
@@ -230,7 +230,7 @@ class YARP_OS_impl_API BufferedConnectionWriter : public yarp::os::ConnectionWri
     /**
      * @return the message serialized as a string
      */
-    std::string toString();
+    std::string toString() const;
 
 
 private:
@@ -240,9 +240,15 @@ class YARP_OS_impl_API BufferedConnectionWriter : public yarp::os::ConnectionWri
      * the full message is available, whereas conversion can be
      * requested at any time.
      *
+     * The const version of this method performs a const_cast, and calls the
+     * non-const version. This makes possible calling it in const methods.
+     * Conceptually this is not completely wrong because it does not modify
+     * the external state of the class, but just some internal representation.
+     *
      * @return true on success
      */
     bool applyConvertTextMode();
+    bool applyConvertTextMode() const;
 
 
     YARP_SUPPRESS_DLL_INTERFACE_WARNING_ARG(std::vector<yarp::os::ManagedBytes*>) lst; ///< buffers in payload
diff --git a/src/libYARP_OS/include/yarp/os/impl/ConnectionRecorder.h b/src/libYARP_OS/include/yarp/os/impl/ConnectionRecorder.h
index 3bc309580e3..0e089881fe0 100644
--- a/src/libYARP_OS/include/yarp/os/impl/ConnectionRecorder.h
+++ b/src/libYARP_OS/include/yarp/os/impl/ConnectionRecorder.h
@@ -52,11 +52,11 @@ class ConnectionRecorder : public yarp::os::ConnectionReader,
      */
     void fini();
 
-    yarp::os::impl::BufferedConnectionWriter& getMessage();
-    yarp::os::impl::BufferedConnectionWriter& getReply();
-    bool hasReply();
+    const yarp::os::impl::BufferedConnectionWriter& getMessage() const;
+    const yarp::os::impl::BufferedConnectionWriter& getReply() const;
+    bool hasReply() const;
 
-    virtual bool expectBlock(const char* data, size_t len) override;
+    virtual bool expectBlock(char* data, size_t len) override;
     virtual std::string expectText(int terminatingChar) override;
     virtual std::int8_t expectInt8() override;
     virtual std::int16_t expectInt16() override;
@@ -65,17 +65,17 @@ class ConnectionRecorder : public yarp::os::ConnectionReader,
     virtual yarp::conf::float32_t expectFloat32() override;
     virtual yarp::conf::float64_t expectFloat64() override;
     virtual bool pushInt(int x) override;
-    virtual bool isTextMode() override;
-    virtual bool isBareMode() override;
+    virtual bool isTextMode() const override;
+    virtual bool isBareMode() const override;
     virtual bool convertTextMode() override;
-    virtual size_t getSize() override;
+    virtual size_t getSize() const override;
     virtual yarp::os::ConnectionWriter* getWriter() override;
-    virtual yarp::os::Portable* getReference() override;
-    virtual yarp::os::Contact getRemoteContact() override;
-    virtual yarp::os::Contact getLocalContact() override;
-    virtual bool isValid() override;
-    virtual bool isActive() override;
-    virtual bool isError() override;
+    virtual yarp::os::Portable* getReference() const override;
+    virtual yarp::os::Contact getRemoteContact() const override;
+    virtual yarp::os::Contact getLocalContact() const override;
+    virtual bool isValid() const override;
+    virtual bool isActive() const override;
+    virtual bool isError() const override;
     virtual void appendBlock(const char* data, size_t len) override;
     virtual void appendInt8(std::int8_t data) override;
     virtual void appendInt16(std::int16_t data) override;
@@ -88,10 +88,10 @@ class ConnectionRecorder : public yarp::os::ConnectionReader,
     virtual void declareSizes(int argc, int* argv) override;
     virtual void setReplyHandler(yarp::os::PortReader& reader) override;
     virtual void setReference(yarp::os::Portable* obj) override;
-    virtual bool write(yarp::os::ConnectionWriter& connection) override;
+    virtual bool write(yarp::os::ConnectionWriter& connection) const override;
     virtual void requestDrop() override;
-    virtual yarp::os::Searchable& getConnectionModifiers() override;
-    virtual yarp::os::SizedWriter* getBuffer() override;
+    virtual const yarp::os::Searchable& getConnectionModifiers() const override;
+    virtual yarp::os::SizedWriter* getBuffer() const override;
     virtual bool setSize(size_t len) override;
 };
 
diff --git a/src/libYARP_OS/include/yarp/os/impl/DgramTwoWayStream.h b/src/libYARP_OS/include/yarp/os/impl/DgramTwoWayStream.h
index a50fc0009b9..7744d708eb6 100644
--- a/src/libYARP_OS/include/yarp/os/impl/DgramTwoWayStream.h
+++ b/src/libYARP_OS/include/yarp/os/impl/DgramTwoWayStream.h
@@ -94,12 +94,12 @@ class YARP_OS_impl_API yarp::os::impl::DgramTwoWayStream : public TwoWayStream,
         return *this;
     }
 
-    virtual const Contact& getLocalAddress() override
+    virtual const Contact& getLocalAddress() const override
     {
         return localAddress;
     }
 
-    virtual const Contact& getRemoteAddress() override
+    virtual const Contact& getRemoteAddress() const override
     {
         return remoteAddress;
     }
@@ -114,14 +114,14 @@ class YARP_OS_impl_API yarp::os::impl::DgramTwoWayStream : public TwoWayStream,
     virtual void closeMain();
 
     using yarp::os::InputStream::read;
-    virtual yarp::conf::ssize_t read(const yarp::os::Bytes& b) override;
+    virtual yarp::conf::ssize_t read(yarp::os::Bytes& b) override;
 
     using yarp::os::OutputStream::write;
     virtual void write(const yarp::os::Bytes& b) override;
 
     virtual void flush() override;
 
-    virtual bool isOk() override;
+    virtual bool isOk() const override;
 
     virtual void reset() override;
 
diff --git a/src/libYARP_OS/include/yarp/os/impl/FakeTwoWayStream.h b/src/libYARP_OS/include/yarp/os/impl/FakeTwoWayStream.h
index e4fb69c3894..7996952f5e4 100644
--- a/src/libYARP_OS/include/yarp/os/impl/FakeTwoWayStream.h
+++ b/src/libYARP_OS/include/yarp/os/impl/FakeTwoWayStream.h
@@ -56,12 +56,12 @@ class yarp::os::impl::FakeTwoWayStream : public TwoWayStream
         return out;
     }
 
-    virtual const Contact& getLocalAddress() override
+    virtual const Contact& getLocalAddress() const override
     {
         return local;
     }
 
-    virtual const Contact& getRemoteAddress() override
+    virtual const Contact& getRemoteAddress() const override
     {
         return remote;
     }
@@ -84,17 +84,17 @@ class yarp::os::impl::FakeTwoWayStream : public TwoWayStream
         in.add(str);
     }
 
-    std::string getOutputText()
+    std::string getOutputText() const
     {
         return out.toString();
     }
 
-    std::string getInputText()
+    std::string getInputText() const
     {
         return in.toString();
     }
 
-    virtual bool isOk() override
+    virtual bool isOk() const override
     {
         return true;
     }
diff --git a/src/libYARP_OS/include/yarp/os/impl/HttpCarrier.h b/src/libYARP_OS/include/yarp/os/impl/HttpCarrier.h
index bc868012c9e..c5a26ac51f3 100644
--- a/src/libYARP_OS/include/yarp/os/impl/HttpCarrier.h
+++ b/src/libYARP_OS/include/yarp/os/impl/HttpCarrier.h
@@ -73,10 +73,10 @@ class yarp::os::impl::HttpTwoWayStream : public TwoWayStream, public OutputStrea
 
     virtual InputStream& getInputStream() override;
     virtual OutputStream& getOutputStream() override;
-    virtual const Contact& getLocalAddress() override;
-    virtual const Contact& getRemoteAddress() override;
+    virtual const Contact& getLocalAddress() const override;
+    virtual const Contact& getRemoteAddress() const override;
 
-    virtual bool isOk() override;
+    virtual bool isOk() const override;
     virtual void reset() override;
     using yarp::os::OutputStream::write;
     virtual void write(const Bytes& b) override;
@@ -108,18 +108,18 @@ class yarp::os::impl::HttpCarrier : public TcpCarrier
 public:
     HttpCarrier();
 
-    virtual Carrier *create() override;
+    virtual Carrier *create() const override;
 
-    virtual std::string getName() override;
+    virtual std::string getName() const override;
 
     bool checkHeader(const Bytes& header, const char *prefix);
 
     virtual bool checkHeader(const Bytes& header) override;
     virtual void setParameters(const Bytes& header) override;
-    virtual void getHeader(const Bytes& header) override;
-    virtual bool requireAck() override;
-    virtual bool isTextMode() override;
-    virtual bool supportReply() override;
+    virtual void getHeader(Bytes& header) const override;
+    virtual bool requireAck() const override;
+    virtual bool isTextMode() const override;
+    virtual bool supportReply() const override;
     virtual bool sendHeader(ConnectionState& proto) override;
     virtual bool expectSenderSpecifier(ConnectionState& proto) override;
     virtual bool expectReplyToHeader(ConnectionState& proto) override;
diff --git a/src/libYARP_OS/include/yarp/os/impl/LocalCarrier.h b/src/libYARP_OS/include/yarp/os/impl/LocalCarrier.h
index 7c3bd4f799d..bdfc886a69c 100644
--- a/src/libYARP_OS/include/yarp/os/impl/LocalCarrier.h
+++ b/src/libYARP_OS/include/yarp/os/impl/LocalCarrier.h
@@ -58,12 +58,12 @@ class yarp::os::impl::LocalCarrierStream : public TwoWayStream,
 
     virtual InputStream& getInputStream() override;
     virtual OutputStream& getOutputStream() override;
-    virtual const Contact& getLocalAddress() override;
-    virtual const Contact& getRemoteAddress() override;
+    virtual const Contact& getLocalAddress() const override;
+    virtual const Contact& getRemoteAddress() const override;
     virtual bool setTypeOfService(int tos) override;
 
     using yarp::os::InputStream::read;
-    virtual yarp::conf::ssize_t read(const yarp::os::Bytes& b) override;
+    virtual yarp::conf::ssize_t read(yarp::os::Bytes& b) override;
 
     using yarp::os::OutputStream::write;
     virtual void write(const yarp::os::Bytes& b) override;
@@ -73,7 +73,7 @@ class yarp::os::impl::LocalCarrierStream : public TwoWayStream,
     virtual void endPacket() override;
     virtual void interrupt() override;
     virtual void close() override;
-    virtual bool isOk() override;
+    virtual bool isOk() const override;
 
 private:
     Contact localAddress, remoteAddress;
@@ -92,17 +92,17 @@ class yarp::os::impl::LocalCarrier : public AbstractCarrier
 
     virtual ~LocalCarrier();
 
-    virtual Carrier *create() override;
+    virtual Carrier *create() const override;
 
-    virtual std::string getName() override;
+    virtual std::string getName() const override;
 
-    virtual bool requireAck() override;
-    virtual bool isConnectionless() override;
-    virtual bool canEscape() override;
-    virtual bool isLocal() override;
-    virtual std::string getSpecifierName();
+    virtual bool requireAck() const override;
+    virtual bool isConnectionless() const override;
+    virtual bool canEscape() const override;
+    virtual bool isLocal() const override;
+    virtual std::string getSpecifierName() const;
     virtual bool checkHeader(const Bytes& header) override;
-    virtual void getHeader(const Bytes& header) override;
+    virtual void getHeader(Bytes& header) const override;
     virtual void setParameters(const Bytes& header) override;
     virtual bool sendHeader(ConnectionState& proto) override;
     virtual bool expectExtraHeader(ConnectionState& proto) override;
diff --git a/src/libYARP_OS/include/yarp/os/impl/McastCarrier.h b/src/libYARP_OS/include/yarp/os/impl/McastCarrier.h
index 69986a27da2..c3a4c737a13 100644
--- a/src/libYARP_OS/include/yarp/os/impl/McastCarrier.h
+++ b/src/libYARP_OS/include/yarp/os/impl/McastCarrier.h
@@ -49,10 +49,11 @@ class yarp::os::impl::McastCarrier : public UdpCarrier {
 
     virtual ~McastCarrier();
 
-    virtual Carrier *create() override;
-    virtual std::string getName() override;
+    virtual Carrier *create() const override;
+    virtual std::string getName() const override;
+
+    virtual int getSpecifierCode() const override;
 
-    virtual int getSpecifierCode() override;
     virtual bool sendHeader(ConnectionState& proto) override;
     virtual bool expectExtraHeader(ConnectionState& proto) override;
     virtual bool respondToHeader(ConnectionState& proto) override;
@@ -61,7 +62,7 @@ class yarp::os::impl::McastCarrier : public UdpCarrier {
     bool becomeMcast(ConnectionState& proto, bool sender);
     void addSender(const std::string& key);
     void removeSender(const std::string& key);
-    bool isElect();
+    bool isElect() const;
     /**
      * @brief takeElection, this function is called when the elect mcast
      * carrier dies and pass the write buffers to another one.
@@ -69,8 +70,8 @@ class yarp::os::impl::McastCarrier : public UdpCarrier {
      */
     bool takeElection();
 
-    virtual bool isActive() override;
-    virtual bool isBroadcast() override;
+    virtual bool isActive() const override;
+    virtual bool isBroadcast() const override;
 };
 
 #endif // YARP_OS_IMPL_MCASTCARRIER_H
diff --git a/src/libYARP_OS/include/yarp/os/impl/MemoryOutputStream.h b/src/libYARP_OS/include/yarp/os/impl/MemoryOutputStream.h
index ab5c3ed5c56..80f7ec14466 100644
--- a/src/libYARP_OS/include/yarp/os/impl/MemoryOutputStream.h
+++ b/src/libYARP_OS/include/yarp/os/impl/MemoryOutputStream.h
@@ -35,7 +35,7 @@ class yarp::os::impl::MemoryOutputStream : public yarp::os::OutputStream {
         _location += b.length();
     }
     void close() override {}
-    bool isOk() override { return true; }
+    bool isOk() const override { return true; }
 private:
     char *_location;
 };
diff --git a/src/libYARP_OS/include/yarp/os/impl/NameServer.h b/src/libYARP_OS/include/yarp/os/impl/NameServer.h
index 8f569dc5d86..25ca7b2fa63 100644
--- a/src/libYARP_OS/include/yarp/os/impl/NameServer.h
+++ b/src/libYARP_OS/include/yarp/os/impl/NameServer.h
@@ -310,7 +310,7 @@ class YARP_OS_impl_API yarp::os::impl::NameServer : public NameServerStub
             return base;
         }
 
-        std::string toString()
+        std::string toString() const
         {
             std::string base = "";
             for (unsigned int i=0; i<prop.size(); i++) {
diff --git a/src/libYARP_OS/include/yarp/os/impl/NameserCarrier.h b/src/libYARP_OS/include/yarp/os/impl/NameserCarrier.h
index 23633a49c0d..3e30f922ea2 100644
--- a/src/libYARP_OS/include/yarp/os/impl/NameserCarrier.h
+++ b/src/libYARP_OS/include/yarp/os/impl/NameserCarrier.h
@@ -41,17 +41,17 @@ class yarp::os::impl::NameserTwoWayStream : public TwoWayStream, InputStream
 
     virtual InputStream& getInputStream() override;
     virtual OutputStream& getOutputStream() override;
-    virtual const Contact& getLocalAddress() override;
-    virtual const Contact& getRemoteAddress() override;
+    virtual const Contact& getLocalAddress() const override;
+    virtual const Contact& getRemoteAddress() const override;
 
-    virtual bool isOk() override;
+    virtual bool isOk() const override;
     virtual void reset() override;
     virtual void close() override;
     virtual void beginPacket() override;
     virtual void endPacket() override;
 
     using yarp::os::InputStream::read;
-    virtual yarp::conf::ssize_t read(const yarp::os::Bytes& b) override;
+    virtual yarp::conf::ssize_t read(yarp::os::Bytes& b) override;
 };
 
 
@@ -67,17 +67,17 @@ class yarp::os::impl::NameserCarrier : public TcpCarrier
 public:
     NameserCarrier();
 
-    virtual std::string getName() override;
-    virtual std::string getSpecifierName();
+    virtual std::string getName() const override;
+    std::string getSpecifierName() const;
 
-    virtual Carrier *create() override;
+    virtual Carrier *create() const override;
 
     virtual bool checkHeader(const Bytes& header) override;
-    virtual void getHeader(const Bytes& header) override;
-    virtual bool requireAck() override;
-    virtual bool isTextMode() override;
-    virtual bool supportReply() override;
-    virtual bool canEscape() override;
+    virtual void getHeader(Bytes& header) const override;
+    virtual bool requireAck() const override;
+    virtual bool isTextMode() const override;
+    virtual bool supportReply() const override;
+    virtual bool canEscape() const override;
     virtual bool sendHeader(ConnectionState& proto) override;
     virtual bool expectSenderSpecifier(ConnectionState& proto) override;
     virtual bool expectIndex(ConnectionState& proto) override;
diff --git a/src/libYARP_OS/include/yarp/os/impl/PortCommand.h b/src/libYARP_OS/include/yarp/os/impl/PortCommand.h
index b115438e220..ba9cf92466f 100644
--- a/src/libYARP_OS/include/yarp/os/impl/PortCommand.h
+++ b/src/libYARP_OS/include/yarp/os/impl/PortCommand.h
@@ -44,7 +44,7 @@ class YARP_OS_impl_API yarp::os::impl::PortCommand : public yarp::os::Portable
         this->str = str;
     }
 
-    virtual bool write(yarp::os::ConnectionWriter& writer) override;
+    virtual bool write(yarp::os::ConnectionWriter& writer) const override;
     virtual bool read(yarp::os::ConnectionReader& reader) override;
 
     char getKey()
@@ -60,7 +60,7 @@ class YARP_OS_impl_API yarp::os::impl::PortCommand : public yarp::os::Portable
 public:
     char ch;
     YARP_SUPPRESS_DLL_INTERFACE_WARNING_ARG(std::string) str;
-    yarp::os::ManagedBytes header;
+    mutable yarp::os::ManagedBytes header;
 };
 
 #endif // YARP_OS_IMPL_PORTCOMMAND_H
diff --git a/src/libYARP_OS/include/yarp/os/impl/PortCore.h b/src/libYARP_OS/include/yarp/os/impl/PortCore.h
index c6d23da3458..9cf0bbe137d 100644
--- a/src/libYARP_OS/include/yarp/os/impl/PortCore.h
+++ b/src/libYARP_OS/include/yarp/os/impl/PortCore.h
@@ -262,9 +262,9 @@ class YARP_OS_impl_API yarp::os::impl::PortCore : public ThreadImpl, public Port
      * @param reader where to direct replies
      * @param callback who to call onCompletion() on when message sent.
      */
-    bool send(yarp::os::PortWriter& writer,
+    bool send(const yarp::os::PortWriter& writer,
               yarp::os::PortReader *reader = nullptr,
-              yarp::os::PortWriter *callback = nullptr);
+              const yarp::os::PortWriter *callback = nullptr);
 
     /**
      * Send a message with a specific mode (normal or log).
@@ -272,10 +272,10 @@ class YARP_OS_impl_API yarp::os::impl::PortCore : public ThreadImpl, public Port
      * @param reader where to direct replies
      * @param callback who to call onCompletion() on when message sent.
      */
-    bool sendHelper(yarp::os::PortWriter& writer,
+    bool sendHelper(const yarp::os::PortWriter& writer,
                     int mode,
                     yarp::os::PortReader *reader = nullptr,
-                    yarp::os::PortWriter *callback = nullptr);
+                    const yarp::os::PortWriter *callback = nullptr);
 
     /**
      * Shut down port.
diff --git a/src/libYARP_OS/include/yarp/os/impl/PortCoreOutputUnit.h b/src/libYARP_OS/include/yarp/os/impl/PortCoreOutputUnit.h
index 4f43fc72a90..74052b1e95e 100644
--- a/src/libYARP_OS/include/yarp/os/impl/PortCoreOutputUnit.h
+++ b/src/libYARP_OS/include/yarp/os/impl/PortCoreOutputUnit.h
@@ -84,9 +84,9 @@ class yarp::os::impl::PortCoreOutputUnit : public PortCoreUnit
     virtual Route getRoute() override;
 
     // documented in PortCoreUnit
-    virtual void *send(yarp::os::PortWriter& writer,
+    virtual void *send(const yarp::os::PortWriter& writer,
                        yarp::os::PortReader *reader,
-                       yarp::os::PortWriter *callback,
+                       const yarp::os::PortWriter *callback,
                        void *tracker,
                        const std::string& envelopeString,
                        bool waitAfter,
@@ -118,9 +118,9 @@ class yarp::os::impl::PortCoreOutputUnit : public PortCoreUnit
     yarp::os::Semaphore phase;        ///< let main thread kick sending thread
     yarp::os::Semaphore activate;     ///< signal when we have a new tracker
     yarp::os::Mutex trackerMutex; ///< protect the tracker during outside access
-    yarp::os::PortWriter *cachedWriter;   ///< the message the send
+    const yarp::os::PortWriter* cachedWriter;   ///< the message the send
     yarp::os::PortReader *cachedReader;   ///< where to put a reply
-    yarp::os::PortWriter *cachedCallback; ///< where to sent commencement and
+    const yarp::os::PortWriter* cachedCallback; ///< where to sent commencement and
                                           ///< completion events
     void *cachedTracker;        ///< memory tracker for current message
     std::string cachedEnvelope;      ///< some text to pass along with the message
diff --git a/src/libYARP_OS/include/yarp/os/impl/PortCorePacket.h b/src/libYARP_OS/include/yarp/os/impl/PortCorePacket.h
index c83d5892d34..3998007a932 100644
--- a/src/libYARP_OS/include/yarp/os/impl/PortCorePacket.h
+++ b/src/libYARP_OS/include/yarp/os/impl/PortCorePacket.h
@@ -30,8 +30,8 @@ class yarp::os::impl::PortCorePacket
 public:
     PortCorePacket *prev_; ///< this packet will be in a list of active packets
     PortCorePacket *next_; ///< this packet will be in a list of active packets
-    yarp::os::PortWriter *content;  ///< the object being sent
-    yarp::os::PortWriter *callback; ///< where to send event notifications
+    const yarp::os::PortWriter *content;  ///< the object being sent
+    const yarp::os::PortWriter *callback; ///< where to send event notifications
     int ct;                ///< number of uses of the messagae
     bool owned;            ///< should we memory-manage the content object
     bool ownedCallback;    ///< should we memory-manage the callback object
@@ -89,7 +89,7 @@ class yarp::os::impl::PortCorePacket
     /**
      * @return the object being sent.
      */
-    yarp::os::PortWriter *getContent()
+    const yarp::os::PortWriter* getContent()
     {
         return content;
     }
@@ -97,7 +97,7 @@ class yarp::os::impl::PortCorePacket
     /**
      * @return the object to which notifications should be sent.
      */
-    yarp::os::PortWriter *getCallback()
+    const yarp::os::PortWriter* getCallback()
     {
         return (callback != nullptr) ? callback : content;
     }
@@ -110,8 +110,9 @@ class yarp::os::impl::PortCorePacket
      * @param callback where to send notifications
      * @param ownedCallback should we memory-manage `callback`
      */
-    void setContent(yarp::os::PortWriter *writable, bool owned = false,
-                    yarp::os::PortWriter *callback = nullptr,
+    void setContent(const yarp::os::PortWriter *writable,
+                    bool owned = false,
+                    const yarp::os::PortWriter *callback = nullptr,
                     bool ownedCallback = false)
     {
         content = writable;
diff --git a/src/libYARP_OS/include/yarp/os/impl/PortCoreUnit.h b/src/libYARP_OS/include/yarp/os/impl/PortCoreUnit.h
index 4e40cbf429f..e1053cf843f 100644
--- a/src/libYARP_OS/include/yarp/os/impl/PortCoreUnit.h
+++ b/src/libYARP_OS/include/yarp/os/impl/PortCoreUnit.h
@@ -129,9 +129,9 @@ class yarp::os::impl::PortCoreUnit : public ThreadImpl
      * the caller's responsibility to manage any memory associated
      * with the message.
      */
-    virtual void *send(yarp::os::PortWriter& writer,
+    virtual void *send(const yarp::os::PortWriter& writer,
                        yarp::os::PortReader *reader,
-                       yarp::os::PortWriter *callback,
+                       const yarp::os::PortWriter *callback,
                        void *tracker,
                        const std::string& envelope,
                        bool waitAfter = true,
diff --git a/src/libYARP_OS/include/yarp/os/impl/Protocol.h b/src/libYARP_OS/include/yarp/os/impl/Protocol.h
index 2bea5e2aff2..3c6a520c7c2 100644
--- a/src/libYARP_OS/include/yarp/os/impl/Protocol.h
+++ b/src/libYARP_OS/include/yarp/os/impl/Protocol.h
@@ -45,18 +45,18 @@ class YARP_OS_impl_API Protocol : public yarp::os::OutputProtocol,
 
     // yarp::os::ConnectionState.
     virtual void setRoute(const Route& route) override;
-    virtual const Route& getRoute() override;
+    virtual const Route& getRoute() const override;
     virtual TwoWayStream& getStreams() override;
     virtual void takeStreams(TwoWayStream* streams) override;
     virtual TwoWayStream* giveStreams() override;
-    virtual bool checkStreams() override;
+    virtual bool checkStreams() const override;
     virtual void setReference(yarp::os::Portable* ref) override;
-    virtual std::string getSenderSpecifier() override;
-    virtual const std::string& getEnvelope() override;
-    virtual Log& getLog() override;
+    virtual std::string getSenderSpecifier() const override;
+    virtual const std::string& getEnvelope() const override;
+    virtual Log& getLog() const override;
     virtual void setRemainingLength(int len) override;
     virtual Connection& getConnection() override;
-    virtual Contactable* getContactable() override;
+    virtual Contactable* getContactable() const override;
 
 
     // yarp::os::InputProtocol.
@@ -74,13 +74,13 @@ class YARP_OS_impl_API Protocol : public yarp::os::OutputProtocol,
     virtual void setEnvelope(const std::string& str) override;
     virtual Connection& getReceiver() override;
     virtual void attachPort(yarp::os::Contactable* port) override;
-    virtual bool isReplying() override;
+    virtual bool isReplying() const override;
 
 
     // yarp::os::OutputProtocol.
     virtual bool open(const Route& route) override;
     virtual void rename(const Route& route) override;
-    virtual bool isOk() override;
+    virtual bool isOk() const override;
     virtual bool write(SizedWriter& writer) override;
     virtual InputProtocol& getInput() override;
     virtual void beginWrite() override;
diff --git a/src/libYARP_OS/include/yarp/os/impl/SocketTwoWayStream.h b/src/libYARP_OS/include/yarp/os/impl/SocketTwoWayStream.h
index ddc5db75ebc..5a84310de0d 100644
--- a/src/libYARP_OS/include/yarp/os/impl/SocketTwoWayStream.h
+++ b/src/libYARP_OS/include/yarp/os/impl/SocketTwoWayStream.h
@@ -70,12 +70,12 @@ class YARP_OS_impl_API yarp::os::impl::SocketTwoWayStream : public TwoWayStream,
         return *this;
     }
 
-    virtual const Contact& getLocalAddress() override
+    virtual const Contact& getLocalAddress() const override
     {
         return localAddress;
     }
 
-    virtual const Contact& getRemoteAddress() override
+    virtual const Contact& getRemoteAddress() const override
     {
         return remoteAddress;
     }
@@ -101,7 +101,7 @@ class YARP_OS_impl_API yarp::os::impl::SocketTwoWayStream : public TwoWayStream,
     }
 
     using yarp::os::InputStream::read;
-    virtual yarp::conf::ssize_t read(const Bytes& b) override
+    virtual yarp::conf::ssize_t read(Bytes& b) override
     {
         if (!isOk()) { return -1; }
         yarp::conf::ssize_t result;
@@ -118,7 +118,7 @@ class YARP_OS_impl_API yarp::os::impl::SocketTwoWayStream : public TwoWayStream,
         return result;
     }
 
-    virtual yarp::conf::ssize_t partialRead(const Bytes& b) override
+    virtual yarp::conf::ssize_t partialRead(Bytes& b) override
     {
         if (!isOk()) { return -1; }
         yarp::conf::ssize_t result;
@@ -169,7 +169,7 @@ class YARP_OS_impl_API yarp::os::impl::SocketTwoWayStream : public TwoWayStream,
 #endif
     }
 
-    virtual bool isOk() override
+    virtual bool isOk() const override
     {
         return happy;
     }
diff --git a/src/libYARP_OS/include/yarp/os/impl/Storable.h b/src/libYARP_OS/include/yarp/os/impl/Storable.h
index d869f842484..3b239cde4ae 100644
--- a/src/libYARP_OS/include/yarp/os/impl/Storable.h
+++ b/src/libYARP_OS/include/yarp/os/impl/Storable.h
@@ -81,10 +81,10 @@ class YARP_OS_impl_API Storable : public yarp::os::Value
 
 
     virtual bool read(ConnectionReader& connection) override;
-    virtual bool write(ConnectionWriter& connection) override;
+    virtual bool write(ConnectionWriter& connection) const override;
 
     virtual bool readRaw(ConnectionReader& connection) = 0;
-    virtual bool writeRaw(ConnectionWriter& connection) = 0;
+    virtual bool writeRaw(ConnectionWriter& connection) const = 0;
 
     virtual bool isBool() const override { return false; }
     virtual bool asBool() const override { return false; }
@@ -185,7 +185,7 @@ class YARP_OS_impl_API StoreNull : public Storable
     virtual std::int32_t getCode() const override { return -1; }
 
     virtual bool readRaw(ConnectionReader& connection) override { YARP_UNUSED(connection); return false; }
-    virtual bool writeRaw(ConnectionWriter& connection) override { YARP_UNUSED(connection); return false; }
+    virtual bool writeRaw(ConnectionWriter& connection) const override { YARP_UNUSED(connection); return false; }
 
     virtual bool isNull() const override { return true; }
 };
@@ -212,7 +212,7 @@ class YARP_OS_impl_API StoreInt8 : public Storable
     virtual std::int32_t getCode() const override { return code; }
 
     virtual bool readRaw(ConnectionReader& reader) override;
-    virtual bool writeRaw(ConnectionWriter& writer) override;
+    virtual bool writeRaw(ConnectionWriter& writer) const override;
 
     virtual bool isInt8() const override { return true; }
     virtual bool asBool() const override { return x != 0; }
@@ -248,7 +248,7 @@ class YARP_OS_impl_API StoreInt16 : public Storable
     virtual std::int32_t getCode() const override { return code; }
 
     virtual bool readRaw(ConnectionReader& reader) override;
-    virtual bool writeRaw(ConnectionWriter& writer) override;
+    virtual bool writeRaw(ConnectionWriter& writer) const override;
 
     virtual bool isInt16() const override { return true; }
     virtual bool asBool() const override { return x != 0; }
@@ -283,7 +283,7 @@ class YARP_OS_impl_API StoreInt32 : public Storable
     virtual std::int32_t getCode() const override { return code; }
 
     virtual bool readRaw(ConnectionReader& reader) override;
-    virtual bool writeRaw(ConnectionWriter& writer) override;
+    virtual bool writeRaw(ConnectionWriter& writer) const override;
 
     virtual std::int8_t asInt8() const override { return static_cast<std::int8_t>(x); }
     virtual bool asBool() const override { return x != 0; }
@@ -317,7 +317,7 @@ class YARP_OS_impl_API StoreInt64 : public Storable
     virtual std::int32_t getCode() const override { return code; }
 
     virtual bool readRaw(ConnectionReader& reader) override;
-    virtual bool writeRaw(ConnectionWriter& writer) override;
+    virtual bool writeRaw(ConnectionWriter& writer) const override;
 
     virtual bool isInt64() const override { return true; }
     virtual bool asBool() const override { return x != 0; }
@@ -351,7 +351,7 @@ class YARP_OS_impl_API StoreFloat32 : public Storable
     virtual std::int32_t getCode() const override { return code; }
 
     virtual bool readRaw(ConnectionReader& reader) override;
-    virtual bool writeRaw(ConnectionWriter& writer) override;
+    virtual bool writeRaw(ConnectionWriter& writer) const override;
 
     virtual bool isFloat32() const override { return true; }
     virtual std::int8_t asInt8() const override { return static_cast<std::int8_t>(x); }
@@ -383,7 +383,7 @@ class YARP_OS_impl_API StoreFloat64 : public Storable
     virtual std::int32_t getCode() const override { return code; }
 
     virtual bool readRaw(ConnectionReader& reader) override;
-    virtual bool writeRaw(ConnectionWriter& writer) override;
+    virtual bool writeRaw(ConnectionWriter& writer) const override;
 
     virtual bool isFloat64() const override { return true; }
     virtual std::int8_t asInt8() const override { return static_cast<std::int8_t>(x); }
@@ -416,7 +416,7 @@ class YARP_OS_impl_API StoreVocab : public Storable
     virtual std::int32_t getCode() const override { return code; }
 
     virtual bool readRaw(ConnectionReader& reader) override;
-    virtual bool writeRaw(ConnectionWriter& writer) override;
+    virtual bool writeRaw(ConnectionWriter& writer) const override;
 
     virtual bool isBool() const override { return (x == 0 || x == '1'); }
     virtual bool asBool() const override { return x != 0; }
@@ -455,7 +455,7 @@ class YARP_OS_impl_API StoreString : public Storable
     virtual std::int32_t getCode() const override { return code; }
 
     virtual bool readRaw(ConnectionReader& reader) override;
-    virtual bool writeRaw(ConnectionWriter& writer) override;
+    virtual bool writeRaw(ConnectionWriter& writer) const override;
 
     virtual bool isString() const override { return true; }
     virtual std::string asString() const override { return x; }
@@ -494,7 +494,7 @@ class YARP_OS_impl_API StoreBlob : public Storable
     virtual std::int32_t getCode() const override { return code; }
 
     virtual bool readRaw(ConnectionReader& reader) override;
-    virtual bool writeRaw(ConnectionWriter& writer) override;
+    virtual bool writeRaw(ConnectionWriter& writer) const override;
 
     virtual bool isBlob() const override { return true; }
     virtual const char* asBlob() const override { return x.c_str(); }
@@ -526,7 +526,7 @@ class YARP_OS_impl_API StoreList : public Storable
     virtual std::int32_t getCode() const override { return code + subCode(); }
 
     virtual bool readRaw(ConnectionReader& reader) override;
-    virtual bool writeRaw(ConnectionWriter& writer) override;
+    virtual bool writeRaw(ConnectionWriter& writer) const override;
 
     virtual bool isList() const override { return true; }
     virtual yarp::os::Bottle* asList() const override
@@ -572,7 +572,7 @@ class YARP_OS_impl_API StoreDict : public Storable
     virtual std::int32_t getCode() const override { return code; }
 
     virtual bool readRaw(ConnectionReader& reader) override;
-    virtual bool writeRaw(ConnectionWriter& writer) override;
+    virtual bool writeRaw(ConnectionWriter& writer) const override;
 
     virtual bool isDict() const override { return true; }
     virtual yarp::os::Property* asDict() const override { return const_cast<yarp::os::Property*>(&content); }
diff --git a/src/libYARP_OS/include/yarp/os/impl/StreamConnectionReader.h b/src/libYARP_OS/include/yarp/os/impl/StreamConnectionReader.h
index 10dd857d1e8..9ff566f6eaa 100644
--- a/src/libYARP_OS/include/yarp/os/impl/StreamConnectionReader.h
+++ b/src/libYARP_OS/include/yarp/os/impl/StreamConnectionReader.h
@@ -54,7 +54,7 @@ class YARP_OS_impl_API yarp::os::impl::StreamConnectionReader : public Connectio
     void suppressReply();
     bool dropRequested();
 
-    virtual bool expectBlock(const yarp::os::Bytes& b);
+    virtual bool expectBlock(yarp::os::Bytes& b);
     virtual std::string expectString(int len);
     virtual std::string expectLine();
     virtual void flushWriter();
@@ -62,7 +62,7 @@ class YARP_OS_impl_API yarp::os::impl::StreamConnectionReader : public Connectio
 
     /**** OVERRIDES ****/
     virtual bool setSize(size_t len) override;
-    virtual size_t getSize() override;
+    virtual size_t getSize() const override;
     virtual bool pushInt(int x) override;
     virtual std::int8_t expectInt8() override;
     virtual std::int16_t expectInt16() override;
@@ -70,21 +70,21 @@ class YARP_OS_impl_API yarp::os::impl::StreamConnectionReader : public Connectio
     virtual std::int64_t expectInt64() override;
     virtual yarp::conf::float32_t expectFloat32() override;
     virtual yarp::conf::float64_t expectFloat64() override;
-    virtual bool expectBlock(const char *data, size_t len) override;
+    virtual bool expectBlock(char *data, size_t len) override;
     virtual std::string expectText(int terminatingChar) override;
-    virtual bool isTextMode() override;
-    virtual bool isBareMode() override;
+    virtual bool isTextMode() const override;
+    virtual bool isBareMode() const override;
     virtual bool convertTextMode() override;
     virtual yarp::os::ConnectionWriter *getWriter() override;
-    virtual yarp::os::Contact getRemoteContact() override;
-    virtual yarp::os::Contact getLocalContact() override;
-    virtual bool isValid() override;
-    virtual bool isError() override;
-    virtual bool isActive() override;
-    virtual yarp::os::Portable *getReference() override;
+    virtual yarp::os::Contact getRemoteContact() const override;
+    virtual yarp::os::Contact getLocalContact() const override;
+    virtual bool isValid() const override;
+    virtual bool isError() const override;
+    virtual bool isActive() const override;
+    virtual yarp::os::Portable *getReference() const override;
     virtual yarp::os::Bytes readEnvelope() override;
     virtual void requestDrop() override;
-    virtual yarp::os::Searchable& getConnectionModifiers() override;
+    virtual const yarp::os::Searchable& getConnectionModifiers() const override;
     virtual void setParentConnectionReader(ConnectionReader *parentConnectionReader) override;
 
 private:
diff --git a/src/libYARP_OS/include/yarp/os/impl/TcpCarrier.h b/src/libYARP_OS/include/yarp/os/impl/TcpCarrier.h
index 8124c86b58f..647eab07367 100644
--- a/src/libYARP_OS/include/yarp/os/impl/TcpCarrier.h
+++ b/src/libYARP_OS/include/yarp/os/impl/TcpCarrier.h
@@ -29,17 +29,17 @@ class yarp::os::impl::TcpCarrier : public AbstractCarrier
 
     TcpCarrier(bool requireAckFlag = true);
 
-    virtual Carrier *create() override;
+    virtual Carrier *create() const override;
 
-    virtual std::string getName() override;
+    virtual std::string getName() const override;
 
-    virtual int getSpecifierCode();
+    virtual int getSpecifierCode() const;
 
     virtual bool checkHeader(const yarp::os::Bytes& header) override;
-    virtual void getHeader(const yarp::os::Bytes& header) override;
+    virtual void getHeader(yarp::os::Bytes& header) const override;
     virtual void setParameters(const yarp::os::Bytes& header) override;
-    virtual bool requireAck() override;
-    virtual bool isConnectionless() override;
+    virtual bool requireAck() const override;
+    virtual bool isConnectionless() const override;
     virtual bool respondToHeader(yarp::os::ConnectionState& proto) override;
     virtual bool expectReplyToHeader(yarp::os::ConnectionState& proto) override;
 
diff --git a/src/libYARP_OS/include/yarp/os/impl/TcpFace.h b/src/libYARP_OS/include/yarp/os/impl/TcpFace.h
index 20578eceb1b..f7051478c9c 100644
--- a/src/libYARP_OS/include/yarp/os/impl/TcpFace.h
+++ b/src/libYARP_OS/include/yarp/os/impl/TcpFace.h
@@ -34,7 +34,7 @@ class YARP_OS_impl_API TcpFace : public yarp::os::Face
     virtual InputProtocol *read() override;
     virtual OutputProtocol *write(const Contact& address) override;
 
-    virtual Contact getLocalAddress() override;
+    virtual Contact getLocalAddress() const override;
 
     /*
      * This class like all classes except the port objects does
diff --git a/src/libYARP_OS/include/yarp/os/impl/TextCarrier.h b/src/libYARP_OS/include/yarp/os/impl/TextCarrier.h
index 06b2ff0868f..f1128336fd9 100644
--- a/src/libYARP_OS/include/yarp/os/impl/TextCarrier.h
+++ b/src/libYARP_OS/include/yarp/os/impl/TextCarrier.h
@@ -25,17 +25,17 @@ class TextCarrier : public TcpCarrier
 public:
     TextCarrier(bool ackVariant = false);
 
-    virtual Carrier* create() override;
+    virtual Carrier* create() const override;
 
-    virtual std::string getName() override;
+    virtual std::string getName() const override;
 
-    virtual std::string getSpecifierName();
+    virtual std::string getSpecifierName() const;
 
     virtual bool checkHeader(const Bytes& header) override;
-    virtual void getHeader(const Bytes& header) override;
-    virtual bool requireAck() override;
-    virtual bool isTextMode() override;
-    virtual bool supportReply() override;
+    virtual void getHeader(Bytes& header) const override;
+    virtual bool requireAck() const override;
+    virtual bool isTextMode() const override;
+    virtual bool supportReply() const override;
     virtual bool sendHeader(ConnectionState& proto) override;
     virtual bool expectReplyToHeader(ConnectionState& proto) override;
     virtual bool expectSenderSpecifier(ConnectionState& proto) override;
diff --git a/src/libYARP_OS/include/yarp/os/impl/UdpCarrier.h b/src/libYARP_OS/include/yarp/os/impl/UdpCarrier.h
index 01c5219c6cc..653ce53a050 100644
--- a/src/libYARP_OS/include/yarp/os/impl/UdpCarrier.h
+++ b/src/libYARP_OS/include/yarp/os/impl/UdpCarrier.h
@@ -29,17 +29,17 @@ class yarp::os::impl::UdpCarrier : public AbstractCarrier
 public:
     UdpCarrier();
 
-    virtual Carrier *create() override;
+    virtual Carrier *create() const override;
 
-    virtual std::string getName() override;
+    virtual std::string getName() const override;
 
-    virtual int getSpecifierCode();
+    virtual int getSpecifierCode() const;
 
     virtual bool checkHeader(const Bytes& header) override;
-    virtual void getHeader(const Bytes& header) override;
+    virtual void getHeader(Bytes& header) const override;
     virtual void setParameters(const Bytes& header) override;
-    virtual bool requireAck() override;
-    virtual bool isConnectionless() override;
+    virtual bool requireAck() const override;
+    virtual bool isConnectionless() const override;
     virtual bool respondToHeader(ConnectionState& proto) override;
     virtual bool expectReplyToHeader(ConnectionState& proto) override;
 };
diff --git a/src/libYARP_OS/include/yarp/os/impl/UnitTest.h b/src/libYARP_OS/include/yarp/os/impl/UnitTest.h
index 7d3816c8338..de9027b0065 100644
--- a/src/libYARP_OS/include/yarp/os/impl/UnitTest.h
+++ b/src/libYARP_OS/include/yarp/os/impl/UnitTest.h
@@ -43,7 +43,7 @@ class YARP_OS_impl_API yarp::os::impl::UnitTest
 
     void report(int severity, const std::string& problem);
 
-    virtual std::string getName() { return "isolated test"; }
+    virtual std::string getName() const { return "isolated test"; }
 
     static void startTestSystem();
     static UnitTest& getRoot();
diff --git a/src/libYARP_OS/src/AbstractCarrier.cpp b/src/libYARP_OS/src/AbstractCarrier.cpp
index 5cc0ea536b7..5e146a3dd0b 100644
--- a/src/libYARP_OS/src/AbstractCarrier.cpp
+++ b/src/libYARP_OS/src/AbstractCarrier.cpp
@@ -20,48 +20,48 @@ void AbstractCarrier::setParameters(const Bytes& header)
     // default - no parameters
 }
 
-bool AbstractCarrier::isConnectionless()
+bool AbstractCarrier::isConnectionless() const
 {
     // conservative choice - shortcuts are taken for connection
     return true;
 }
 
-bool AbstractCarrier::supportReply()
+bool AbstractCarrier::supportReply() const
 {
     return !isConnectionless();
 }
 
-bool AbstractCarrier::canAccept()
+bool AbstractCarrier::canAccept() const
 {
     return true;
 }
 
-bool AbstractCarrier::canOffer()
+bool AbstractCarrier::canOffer() const
 {
     return true;
 }
 
-bool AbstractCarrier::isTextMode()
+bool AbstractCarrier::isTextMode() const
 {
     return false;
 }
 
-bool AbstractCarrier::requireAck()
+bool AbstractCarrier::requireAck() const
 {
     return false;
 }
 
-bool AbstractCarrier::canEscape()
+bool AbstractCarrier::canEscape() const
 {
     return true;
 }
 
-bool AbstractCarrier::isLocal()
+bool AbstractCarrier::isLocal() const
 {
     return false;
 }
 
-std::string AbstractCarrier::toString()
+std::string AbstractCarrier::toString() const
 {
     return getName();
 }
@@ -118,7 +118,8 @@ bool AbstractCarrier::expectSenderSpecifier(ConnectionState& proto)
         len = 1;
     }
     ManagedBytes b(len+1);
-    r = proto.is().readFull(Bytes(b.get(), len));
+    Bytes bytes(b.get(), len);
+    r = proto.is().readFull(bytes);
     if ((int)r!=len) {
         YARP_DEBUG(Logger::get(), "did not get sender name");
         return false;
@@ -140,7 +141,7 @@ bool AbstractCarrier::expectAck(ConnectionState& proto)
     return defaultExpectAck(proto);
 }
 
-bool AbstractCarrier::isActive()
+bool AbstractCarrier::isActive() const
 {
     return true;
 }
@@ -150,12 +151,12 @@ void AbstractCarrier::setCarrierParams(const Property& params)
     YARP_UNUSED(params);
 }
 
-void AbstractCarrier::getCarrierParams(Property& params)
+void AbstractCarrier::getCarrierParams(Property& params) const
 {
     YARP_UNUSED(params);
 }
 
-int AbstractCarrier::getSpecifier(const Bytes& b)
+int AbstractCarrier::getSpecifier(const Bytes& b) const
 {
     int x = interpretYarpNumber(b);
     if (x>=0) {
@@ -164,7 +165,7 @@ int AbstractCarrier::getSpecifier(const Bytes& b)
     return x;
 }
 
-void AbstractCarrier::createStandardHeader(int specifier, const Bytes& header)
+void AbstractCarrier::createStandardHeader(int specifier, Bytes& header) const
 {
     createYarpNumber(7777+specifier, header);
 }
@@ -361,12 +362,12 @@ void AbstractCarrier::writeYarpInt(int n, ConnectionState& proto)
 int AbstractCarrier::interpretYarpNumber(const yarp::os::Bytes& b)
 {
     if (b.length()==8) {
-        char *base = b.get();
+        const char *base = b.get();
         if (base[0]=='Y' &&
             base[1]=='A' &&
             base[6]=='R' &&
             base[7]=='P') {
-            yarp::os::Bytes b2(b.get()+2, 4);
+            yarp::os::Bytes b2(const_cast<char*>(b.get())+2, 4);
             int x = NetType::netInt(b2);
             return x;
         }
@@ -374,7 +375,7 @@ int AbstractCarrier::interpretYarpNumber(const yarp::os::Bytes& b)
     return -1;
 }
 
-void AbstractCarrier::createYarpNumber(int x, const yarp::os::Bytes& header)
+void AbstractCarrier::createYarpNumber(int x, yarp::os::Bytes& header)
 {
     if (header.length()!=8) {
         return;
diff --git a/src/libYARP_OS/src/AbstractContactable.cpp b/src/libYARP_OS/src/AbstractContactable.cpp
index 7876abac806..98b86783ce3 100644
--- a/src/libYARP_OS/src/AbstractContactable.cpp
+++ b/src/libYARP_OS/src/AbstractContactable.cpp
@@ -146,15 +146,15 @@ void yarp::os::AbstractContactable::releaseProperties(Property *prop)
     asPort().releaseProperties(prop);
 }
 
-bool yarp::os::AbstractContactable::write(PortWriter& writer,
-                                          PortWriter* callback) const
+bool yarp::os::AbstractContactable::write(const PortWriter& writer,
+                                          const PortWriter* callback) const
 {
     return asPort().write(writer, callback);
 }
 
-bool yarp::os::AbstractContactable::write(PortWriter& writer,
+bool yarp::os::AbstractContactable::write(const PortWriter& writer,
                                           PortReader& reader,
-                                          PortWriter *callback) const
+                                          const PortWriter *callback) const
 {
     return asPort().write(writer, reader, callback);
 }
diff --git a/src/libYARP_OS/src/Bottle.cpp b/src/libYARP_OS/src/Bottle.cpp
index 69e06e540ff..8fb1d34d180 100644
--- a/src/libYARP_OS/src/Bottle.cpp
+++ b/src/libYARP_OS/src/Bottle.cpp
@@ -186,12 +186,12 @@ const char* Bottle::toBinary(size_t* size)
     return implementation->getBytes();
 }
 
-bool Bottle::write(ConnectionWriter& writer)
+bool Bottle::write(ConnectionWriter& writer) const
 {
     return implementation->write(writer);
 }
 
-void Bottle::onCommencement()
+void Bottle::onCommencement() const
 {
     implementation->onCommencement();
 }
@@ -317,7 +317,7 @@ bool Bottle::write(PortReader& reader, bool textMode)
     return reader.read(con.getReader());
 }
 
-bool Bottle::read(PortWriter& writer, bool textMode)
+bool Bottle::read(const PortWriter& writer, bool textMode)
 {
     implementation->edit();
     DummyConnector con;
diff --git a/src/libYARP_OS/src/BottleImpl.cpp b/src/libYARP_OS/src/BottleImpl.cpp
index f99feedacbe..cd4346400fc 100644
--- a/src/libYARP_OS/src/BottleImpl.cpp
+++ b/src/libYARP_OS/src/BottleImpl.cpp
@@ -296,7 +296,7 @@ bool BottleImpl::isComplete(const char* txt)
 }
 
 
-std::string BottleImpl::toString()
+std::string BottleImpl::toString() const
 {
     std::string result = "";
     for (unsigned int i = 0; i < content.size(); i++) {
@@ -394,7 +394,7 @@ bool BottleImpl::fromBytes(const Bytes& data)
     return true;
 }
 
-void BottleImpl::toBytes(const Bytes& data)
+void BottleImpl::toBytes(Bytes& data)
 {
     synch();
     yAssert(data.length() == byteCount());
@@ -402,14 +402,14 @@ void BottleImpl::toBytes(const Bytes& data)
 }
 
 
-const char* BottleImpl::getBytes()
+const char* BottleImpl::getBytes() const
 {
     YMSG(("am I nested? %d\n", nested));
     synch();
     return &data[0];
 }
 
-size_t BottleImpl::byteCount()
+size_t BottleImpl::byteCount() const
 {
     synch();
     return data.size();
@@ -420,7 +420,7 @@ void BottleImpl::onCommencement()
     synch();
 }
 
-bool BottleImpl::write(ConnectionWriter& writer)
+bool BottleImpl::write(ConnectionWriter& writer) const
 {
     // could simplify this if knew lengths of blocks up front
     if (writer.isTextMode()) {
@@ -514,6 +514,10 @@ bool BottleImpl::read(ConnectionReader& reader)
     return result;
 }
 
+void BottleImpl::synch() const
+{
+    const_cast<BottleImpl*>(this)->synch();
+}
 
 void BottleImpl::synch()
 {
diff --git a/src/libYARP_OS/src/BufferedConnectionWriter.cpp b/src/libYARP_OS/src/BufferedConnectionWriter.cpp
index c01bf84c40d..43e98922597 100644
--- a/src/libYARP_OS/src/BufferedConnectionWriter.cpp
+++ b/src/libYARP_OS/src/BufferedConnectionWriter.cpp
@@ -188,12 +188,12 @@ void BufferedConnectionWriter::push(const Bytes& data, bool copy)
 }
 
 
-bool BufferedConnectionWriter::isTextMode()
+bool BufferedConnectionWriter::isTextMode() const
 {
     return textMode;
 }
 
-bool BufferedConnectionWriter::isBareMode()
+bool BufferedConnectionWriter::isBareMode() const
 {
     return bareMode;
 }
@@ -314,17 +314,17 @@ void BufferedConnectionWriter::appendLine(const std::string& data)
 }
 
 
-size_t BufferedConnectionWriter::length()
+size_t BufferedConnectionWriter::length() const
 {
     return header_used + lst_used;
 }
 
-size_t BufferedConnectionWriter::headerLength()
+size_t BufferedConnectionWriter::headerLength() const
 {
     return header_used;
 }
 
-size_t BufferedConnectionWriter::length(size_t index)
+size_t BufferedConnectionWriter::length(size_t index) const
 {
     if (index < header_used) {
         yarp::os::ManagedBytes& b = *(header[index]);
@@ -334,7 +334,7 @@ size_t BufferedConnectionWriter::length(size_t index)
     return b.used();
 }
 
-const char* BufferedConnectionWriter::data(size_t index)
+const char* BufferedConnectionWriter::data(size_t index) const
 {
     if (index < header_used) {
         yarp::os::ManagedBytes& b = *(header[index]);
@@ -344,7 +344,7 @@ const char* BufferedConnectionWriter::data(size_t index)
     return (const char*)b.get();
 }
 
-bool BufferedConnectionWriter::write(ConnectionWriter& connection)
+bool BufferedConnectionWriter::write(ConnectionWriter& connection) const
 {
     stopWrite();
     size_t i;
@@ -383,7 +383,7 @@ bool BufferedConnectionWriter::write(PortReader& obj)
 }
 
 
-size_t BufferedConnectionWriter::dataSize()
+size_t BufferedConnectionWriter::dataSize() const
 {
     size_t i;
     size_t len = 0;
@@ -427,17 +427,17 @@ void BufferedConnectionWriter::setReference(yarp::os::Portable* obj)
     ref = obj;
 }
 
-bool BufferedConnectionWriter::isValid()
+bool BufferedConnectionWriter::isValid() const
 {
     return true;
 }
 
-bool BufferedConnectionWriter::isActive()
+bool BufferedConnectionWriter::isActive() const
 {
     return true;
 }
 
-bool BufferedConnectionWriter::isError()
+bool BufferedConnectionWriter::isError() const
 {
     return false; // output errors are of no significance at user level
 }
@@ -452,19 +452,19 @@ bool BufferedConnectionWriter::dropRequested()
     return shouldDrop;
 }
 
-void BufferedConnectionWriter::startWrite()
+void BufferedConnectionWriter::startWrite() const
 {
 }
 
-void BufferedConnectionWriter::stopWrite()
+void BufferedConnectionWriter::stopWrite() const
 {
     // convert, last thing, if requested
     applyConvertTextMode();
 }
 
-SizedWriter* BufferedConnectionWriter::getBuffer()
+SizedWriter* BufferedConnectionWriter::getBuffer() const
 {
-    return this;
+    return const_cast<BufferedConnectionWriter*>(this);
 }
 
 
@@ -474,7 +474,7 @@ void BufferedConnectionWriter::setInitialPoolSize(size_t size)
 }
 
 
-std::string BufferedConnectionWriter::toString()
+std::string BufferedConnectionWriter::toString() const
 {
     stopWrite();
     size_t total_size = dataSize();
@@ -495,6 +495,10 @@ std::string BufferedConnectionWriter::toString()
     return output;
 }
 
+bool BufferedConnectionWriter::applyConvertTextMode() const
+{
+    return const_cast<BufferedConnectionWriter*>(this)->applyConvertTextMode();
+}
 
 bool BufferedConnectionWriter::applyConvertTextMode()
 {
diff --git a/src/libYARP_OS/src/Bytes.cpp b/src/libYARP_OS/src/Bytes.cpp
index bacf771c278..27ee3af4370 100644
--- a/src/libYARP_OS/src/Bytes.cpp
+++ b/src/libYARP_OS/src/Bytes.cpp
@@ -27,7 +27,12 @@ size_t yarp::os::Bytes::length() const
     return len;
 }
 
-char* yarp::os::Bytes::get() const
+const char* yarp::os::Bytes::get() const
+{
+    return data;
+}
+
+char* yarp::os::Bytes::get()
 {
     return data;
 }
diff --git a/src/libYARP_OS/src/Carrier.cpp b/src/libYARP_OS/src/Carrier.cpp
index a47f53ada76..313e69f3379 100644
--- a/src/libYARP_OS/src/Carrier.cpp
+++ b/src/libYARP_OS/src/Carrier.cpp
@@ -12,7 +12,7 @@
 
 using namespace yarp::os;
 
-bool Carrier::isBroadcast()
+bool Carrier::isBroadcast() const
 {
     return false;
 }
@@ -22,12 +22,12 @@ void Carrier::handleEnvelope(const std::string& envelope)
     YARP_UNUSED(envelope);
 }
 
-bool Carrier::isPush()
+bool Carrier::isPush() const
 {
     return true;
 }
 
-std::string Carrier::getBootstrapCarrierName()
+std::string Carrier::getBootstrapCarrierName() const
 {
     return "tcp";
 }
@@ -46,7 +46,7 @@ int  Carrier::connect(const Contact& src,
     return -1;
 }
 
-bool Carrier::modifiesIncomingData()
+bool Carrier::modifiesIncomingData() const
 {
     return false;
 }
@@ -64,18 +64,18 @@ bool Carrier::acceptIncomingData(ConnectionReader& reader)
 }
 
 
-bool Carrier::modifiesOutgoingData()
+bool Carrier::modifiesOutgoingData() const
 {
     return false;
 }
 
 
-PortWriter& Carrier::modifyOutgoingData(PortWriter& writer)
+const PortWriter& Carrier::modifyOutgoingData(const PortWriter& writer)
 {
     return writer;
 }
 
-bool Carrier::modifiesReply()
+bool Carrier::modifiesReply() const
 {
     return false;
 }
@@ -94,7 +94,7 @@ PortReader& Carrier::modifyReply(PortReader& reader)
     return reader;
 }
 
-bool Carrier::acceptOutgoingData(PortWriter& writer)
+bool Carrier::acceptOutgoingData(const PortWriter& writer)
 {
     YARP_UNUSED(writer);
     return true;
@@ -119,12 +119,12 @@ void Carrier::setCarrierParams(const Property& params)
     YARP_UNUSED(params);
 }
 
-void Carrier::getCarrierParams(Property& params)
+void Carrier::getCarrierParams(Property& params) const
 {
     YARP_UNUSED(params);
 }
 
-yarp::os::Face* Carrier::createFace(void)
+yarp::os::Face* Carrier::createFace() const
 {
     return new yarp::os::impl::TcpFace();
 }
diff --git a/src/libYARP_OS/src/ConnectionRecorder.cpp b/src/libYARP_OS/src/ConnectionRecorder.cpp
index b0a1604109c..f7dceffbf2c 100644
--- a/src/libYARP_OS/src/ConnectionRecorder.cpp
+++ b/src/libYARP_OS/src/ConnectionRecorder.cpp
@@ -39,22 +39,22 @@ void yarp::os::impl::ConnectionRecorder::fini()
     }
 }
 
-yarp::os::impl::BufferedConnectionWriter& yarp::os::impl::ConnectionRecorder::getMessage()
+const yarp::os::impl::BufferedConnectionWriter& yarp::os::impl::ConnectionRecorder::getMessage() const
 {
     return readerStore;
 }
 
-yarp::os::impl::BufferedConnectionWriter& yarp::os::impl::ConnectionRecorder::getReply()
+const yarp::os::impl::BufferedConnectionWriter& yarp::os::impl::ConnectionRecorder::getReply() const
 {
     return writerStore;
 }
 
-bool yarp::os::impl::ConnectionRecorder::hasReply()
+bool yarp::os::impl::ConnectionRecorder::hasReply() const
 {
     return wrote;
 }
 
-bool yarp::os::impl::ConnectionRecorder::expectBlock(const char* data, size_t len)
+bool yarp::os::impl::ConnectionRecorder::expectBlock(char* data, size_t len)
 {
     bool ok = reader->expectBlock(data, len);
     if (ok) {
@@ -123,12 +123,12 @@ bool yarp::os::impl::ConnectionRecorder::pushInt(int x)
     return ok;
 }
 
-bool yarp::os::impl::ConnectionRecorder::isTextMode()
+bool yarp::os::impl::ConnectionRecorder::isTextMode() const
 {
     return false;
 }
 
-bool yarp::os::impl::ConnectionRecorder::isBareMode()
+bool yarp::os::impl::ConnectionRecorder::isBareMode() const
 {
     return false;
 }
@@ -138,7 +138,7 @@ bool yarp::os::impl::ConnectionRecorder::convertTextMode()
     return false;
 }
 
-size_t yarp::os::impl::ConnectionRecorder::getSize()
+size_t yarp::os::impl::ConnectionRecorder::getSize() const
 {
     return reader->getSize();
 }
@@ -151,22 +151,22 @@ yarp::os::ConnectionWriter* yarp::os::impl::ConnectionRecorder::getWriter()
     return this;
 }
 
-yarp::os::Portable* yarp::os::impl::ConnectionRecorder::getReference()
+yarp::os::Portable* yarp::os::impl::ConnectionRecorder::getReference() const
 {
     return reader->getReference();
 }
 
-yarp::os::Contact yarp::os::impl::ConnectionRecorder::getRemoteContact()
+yarp::os::Contact yarp::os::impl::ConnectionRecorder::getRemoteContact() const
 {
     return reader->getRemoteContact();
 }
 
-yarp::os::Contact yarp::os::impl::ConnectionRecorder::getLocalContact()
+yarp::os::Contact yarp::os::impl::ConnectionRecorder::getLocalContact() const
 {
     return reader->getLocalContact();
 }
 
-bool yarp::os::impl::ConnectionRecorder::isValid()
+bool yarp::os::impl::ConnectionRecorder::isValid() const
 {
     // shared
     if (writing) {
@@ -175,7 +175,7 @@ bool yarp::os::impl::ConnectionRecorder::isValid()
     return reader->isValid();
 }
 
-bool yarp::os::impl::ConnectionRecorder::isActive()
+bool yarp::os::impl::ConnectionRecorder::isActive() const
 {
     // shared
     if (writing) {
@@ -184,7 +184,7 @@ bool yarp::os::impl::ConnectionRecorder::isActive()
     return reader->isActive();
 }
 
-bool yarp::os::impl::ConnectionRecorder::isError()
+bool yarp::os::impl::ConnectionRecorder::isError() const
 {
     // shared
     if (writing) {
@@ -262,7 +262,7 @@ void yarp::os::impl::ConnectionRecorder::setReference(yarp::os::Portable* obj)
     writer->setReference(obj);
 }
 
-bool yarp::os::impl::ConnectionRecorder::write(yarp::os::ConnectionWriter& connection)
+bool yarp::os::impl::ConnectionRecorder::write(yarp::os::ConnectionWriter& connection) const
 {
     if (hasReply()) {
         connection.appendInt32(BOTTLE_TAG_LIST); // nested structure
@@ -283,13 +283,13 @@ void yarp::os::impl::ConnectionRecorder::requestDrop()
 {
 }
 
-yarp::os::Searchable& yarp::os::impl::ConnectionRecorder::getConnectionModifiers()
+const yarp::os::Searchable& yarp::os::impl::ConnectionRecorder::getConnectionModifiers() const
 {
     return blank;
 }
 
 
-yarp::os::SizedWriter* yarp::os::impl::ConnectionRecorder::getBuffer()
+yarp::os::SizedWriter* yarp::os::impl::ConnectionRecorder::getBuffer() const
 {
     return nullptr;
 }
diff --git a/src/libYARP_OS/src/DgramTwoWayStream.cpp b/src/libYARP_OS/src/DgramTwoWayStream.cpp
index c1e09083a2b..a363bc65963 100644
--- a/src/libYARP_OS/src/DgramTwoWayStream.cpp
+++ b/src/libYARP_OS/src/DgramTwoWayStream.cpp
@@ -732,7 +732,7 @@ void DgramTwoWayStream::closeMain() {
     happy = false;
 }
 
-yarp::conf::ssize_t DgramTwoWayStream::read(const Bytes& b) {
+yarp::conf::ssize_t DgramTwoWayStream::read(Bytes& b) {
     reader = true;
     bool done = false;
 
@@ -992,7 +992,7 @@ void DgramTwoWayStream::flush() {
 }
 
 
-bool DgramTwoWayStream::isOk() {
+bool DgramTwoWayStream::isOk() const {
     return happy;
 }
 
diff --git a/src/libYARP_OS/src/HttpCarrier.cpp b/src/libYARP_OS/src/HttpCarrier.cpp
index a78bf02f036..c9537955af3 100644
--- a/src/libYARP_OS/src/HttpCarrier.cpp
+++ b/src/libYARP_OS/src/HttpCarrier.cpp
@@ -357,15 +357,15 @@ yarp::os::OutputStream& yarp::os::impl::HttpTwoWayStream::getOutputStream() {
     return *this;
 }
 
-const Contact& yarp::os::impl::HttpTwoWayStream::getLocalAddress() {
+const Contact& yarp::os::impl::HttpTwoWayStream::getLocalAddress() const {
     return delegate->getLocalAddress();
 }
 
-const Contact& yarp::os::impl::HttpTwoWayStream::getRemoteAddress() {
+const Contact& yarp::os::impl::HttpTwoWayStream::getRemoteAddress() const {
     return delegate->getRemoteAddress();
 }
 
-bool yarp::os::impl::HttpTwoWayStream::isOk() {
+bool yarp::os::impl::HttpTwoWayStream::isOk() const {
     return true; //delegate->isOk();
 }
 
@@ -525,11 +525,11 @@ yarp::os::impl::HttpCarrier::HttpCarrier() :
         stream(nullptr) {
 }
 
-yarp::os::Carrier *yarp::os::impl::HttpCarrier::create() {
+yarp::os::Carrier *yarp::os::impl::HttpCarrier::create() const {
     return new HttpCarrier();
 }
 
-std::string yarp::os::impl::HttpCarrier::getName() {
+std::string yarp::os::impl::HttpCarrier::getName() const {
     return "http";
 }
 
@@ -579,7 +579,7 @@ void yarp::os::impl::HttpCarrier::setParameters(const Bytes& header) {
     }
 }
 
-void yarp::os::impl::HttpCarrier::getHeader(const Bytes& header) {
+void yarp::os::impl::HttpCarrier::getHeader(Bytes& header) const {
     if (header.length()==8) {
         std::string target = "GET / HT";
         for (int i=0; i<8; i++) {
@@ -588,16 +588,16 @@ void yarp::os::impl::HttpCarrier::getHeader(const Bytes& header) {
     }
 }
 
-bool yarp::os::impl::HttpCarrier::requireAck() {
+bool yarp::os::impl::HttpCarrier::requireAck() const {
     return false;
 }
 
-bool yarp::os::impl::HttpCarrier::isTextMode() {
+bool yarp::os::impl::HttpCarrier::isTextMode() const {
     return true;
 }
 
 
-bool yarp::os::impl::HttpCarrier::supportReply() {
+bool yarp::os::impl::HttpCarrier::supportReply() const {
     return true;
 }
 
diff --git a/src/libYARP_OS/src/InputStream.cpp b/src/libYARP_OS/src/InputStream.cpp
index b0c48c0b1a2..c1bbb57109a 100644
--- a/src/libYARP_OS/src/InputStream.cpp
+++ b/src/libYARP_OS/src/InputStream.cpp
@@ -22,22 +22,25 @@ void InputStream::check()
 int InputStream::read()
 {
     unsigned char result;
-    yarp::conf::ssize_t ct = read(yarp::os::Bytes((char*)&result, 1));
+    yarp::os::Bytes bytes(reinterpret_cast<char*>(&result), 1);
+    yarp::conf::ssize_t ct = read(bytes);
     if (ct < 1) {
         return -1;
     }
-    return result;
+    return static_cast<int>(result);
 }
 
-yarp::conf::ssize_t InputStream::read(const Bytes& b, size_t offset, yarp::conf::ssize_t len)
+yarp::conf::ssize_t InputStream::read(Bytes& b, size_t offset, yarp::conf::ssize_t len)
 {
-    return read(yarp::os::Bytes(b.get() + offset, len));
+    yarp::os::Bytes bytes(b.get() + offset, len);
+    return read(bytes);
 }
 
-yarp::conf::ssize_t InputStream::partialRead(const yarp::os::Bytes& b)
+yarp::conf::ssize_t InputStream::partialRead(yarp::os::Bytes& b)
 {
     return read(b);
 }
+
 void InputStream::interrupt()
 {
 }
@@ -92,7 +95,7 @@ std::string InputStream::readLine(int terminal, bool* success)
     return buf;
 }
 
-yarp::conf::ssize_t InputStream::readFull(const Bytes& b)
+yarp::conf::ssize_t InputStream::readFull(Bytes& b)
 {
     yarp::conf::ssize_t off = 0;
     yarp::conf::ssize_t fullLen = b.length();
diff --git a/src/libYARP_OS/src/LocalCarrier.cpp b/src/libYARP_OS/src/LocalCarrier.cpp
index 9947bf9ce85..7eeacf748d6 100644
--- a/src/libYARP_OS/src/LocalCarrier.cpp
+++ b/src/libYARP_OS/src/LocalCarrier.cpp
@@ -69,12 +69,12 @@ OutputStream& yarp::os::impl::LocalCarrierStream::getOutputStream()
     return *this;
 }
 
-const Contact& yarp::os::impl::LocalCarrierStream::getLocalAddress()
+const Contact& yarp::os::impl::LocalCarrierStream::getLocalAddress() const
 {
     return localAddress;
 }
 
-const Contact& yarp::os::impl::LocalCarrierStream::getRemoteAddress()
+const Contact& yarp::os::impl::LocalCarrierStream::getRemoteAddress() const
 {
     return remoteAddress;
 }
@@ -85,7 +85,7 @@ bool yarp::os::impl::LocalCarrierStream::setTypeOfService(int tos)
     return true;
 }
 
-yarp::conf::ssize_t yarp::os::impl::LocalCarrierStream::read(const yarp::os::Bytes& b)
+yarp::conf::ssize_t yarp::os::impl::LocalCarrierStream::read(yarp::os::Bytes& b)
 {
     yAssert(false);
     return b.length();
@@ -122,7 +122,7 @@ void yarp::os::impl::LocalCarrierStream::close() {
     done = true;
 }
 
-bool yarp::os::impl::LocalCarrierStream::isOk() {
+bool yarp::os::impl::LocalCarrierStream::isOk() const {
     return !done;
 }
 
@@ -137,7 +137,7 @@ yarp::os::impl::LocalCarrier::~LocalCarrier() {
     shutdown();
 }
 
-yarp::os::Carrier *yarp::os::impl::LocalCarrier::create() {
+yarp::os::Carrier *yarp::os::impl::LocalCarrier::create() const {
     return new LocalCarrier();
 }
 
@@ -163,27 +163,27 @@ void yarp::os::impl::LocalCarrier::shutdown() {
     }
 }
 
-std::string yarp::os::impl::LocalCarrier::getName() {
+std::string yarp::os::impl::LocalCarrier::getName() const {
     return "local";
 }
 
-bool yarp::os::impl::LocalCarrier::requireAck() {
+bool yarp::os::impl::LocalCarrier::requireAck() const {
     return false;
 }
 
-bool yarp::os::impl::LocalCarrier::isConnectionless() {
+bool yarp::os::impl::LocalCarrier::isConnectionless() const {
     return false;
 }
 
-bool yarp::os::impl::LocalCarrier::canEscape() {
+bool yarp::os::impl::LocalCarrier::canEscape() const {
     return false;
 }
 
-bool yarp::os::impl::LocalCarrier::isLocal() {
+bool yarp::os::impl::LocalCarrier::isLocal() const {
     return true;
 }
 
-std::string yarp::os::impl::LocalCarrier::getSpecifierName() {
+std::string yarp::os::impl::LocalCarrier::getSpecifierName() const {
     return "LOCALITY";
 }
 
@@ -200,7 +200,7 @@ bool yarp::os::impl::LocalCarrier::checkHeader(const Bytes& header) {
     return false;
 }
 
-void yarp::os::impl::LocalCarrier::getHeader(const Bytes& header) {
+void yarp::os::impl::LocalCarrier::getHeader(Bytes& header) const {
     if (header.length()==8) {
         std::string target = getSpecifierName();
         for (int i=0; i<8; i++) {
diff --git a/src/libYARP_OS/src/ManagedBytes.cpp b/src/libYARP_OS/src/ManagedBytes.cpp
index d6e325122bb..df6d8fd544e 100644
--- a/src/libYARP_OS/src/ManagedBytes.cpp
+++ b/src/libYARP_OS/src/ManagedBytes.cpp
@@ -114,7 +114,11 @@ size_t ManagedBytes::used() const {
     return use_set ? use : length();
 }
 
-char *ManagedBytes::get() const {
+const char* ManagedBytes::get() const {
+    return b.get();
+}
+
+char* ManagedBytes::get() {
     return b.get();
 }
 
@@ -130,7 +134,11 @@ void ManagedBytes::clear() {
     use_set = false;
 }
 
-const Bytes& ManagedBytes::bytes() {
+const Bytes& ManagedBytes::bytes() const {
+    return b;
+}
+
+Bytes& ManagedBytes::bytes() {
     return b;
 }
 
@@ -172,7 +180,7 @@ bool ManagedBytes::read(ConnectionReader& reader) {
     return reader.expectBlock(get(), length());
 }
 
-bool ManagedBytes::write(ConnectionWriter& writer) {
+bool ManagedBytes::write(ConnectionWriter& writer) const {
     writer.appendInt32(BOTTLE_TAG_LIST+BOTTLE_TAG_BLOB);
     writer.appendInt32(1);
     writer.appendInt32(static_cast<std::int32_t>(length()));
diff --git a/src/libYARP_OS/src/McastCarrier.cpp b/src/libYARP_OS/src/McastCarrier.cpp
index 8683f6eb635..6829b18dfa0 100644
--- a/src/libYARP_OS/src/McastCarrier.cpp
+++ b/src/libYARP_OS/src/McastCarrier.cpp
@@ -60,15 +60,15 @@ yarp::os::impl::McastCarrier::~McastCarrier() {
     }
 }
 
-Carrier *yarp::os::impl::McastCarrier::create() {
+Carrier *yarp::os::impl::McastCarrier::create() const {
     return new McastCarrier();
 }
 
-std::string yarp::os::impl::McastCarrier::getName() {
+std::string yarp::os::impl::McastCarrier::getName() const {
     return "mcast";
 }
 
-int yarp::os::impl::McastCarrier::getSpecifierCode() {
+int yarp::os::impl::McastCarrier::getSpecifierCode() const {
     return 1;
 }
 
@@ -224,7 +224,7 @@ void yarp::os::impl::McastCarrier::removeSender(const std::string& key) {
     getCaster().remove(key, this);
 }
 
-bool yarp::os::impl::McastCarrier::isElect() {
+bool yarp::os::impl::McastCarrier::isElect() const {
     void *elect = getCaster().getElect(key);
     //void *elect = caster.getElect(mcastAddress.toString());
     return elect==this || elect==nullptr;
@@ -238,10 +238,10 @@ bool yarp::os::impl::McastCarrier::takeElection()
 }
 
 
-bool yarp::os::impl::McastCarrier::isActive() {
+bool yarp::os::impl::McastCarrier::isActive() const {
     return isElect();
 }
 
-bool yarp::os::impl::McastCarrier::isBroadcast() {
+bool yarp::os::impl::McastCarrier::isBroadcast() const {
     return true;
 }
diff --git a/src/libYARP_OS/src/ModifyingCarrier.cpp b/src/libYARP_OS/src/ModifyingCarrier.cpp
index 6b8312cad12..8c7ca1c7a55 100644
--- a/src/libYARP_OS/src/ModifyingCarrier.cpp
+++ b/src/libYARP_OS/src/ModifyingCarrier.cpp
@@ -17,7 +17,7 @@ bool yarp::os::ModifyingCarrier::checkHeader(const yarp::os::Bytes &header)
 }
 
 
-void yarp::os::ModifyingCarrier::getHeader(const yarp::os::Bytes &header)
+void yarp::os::ModifyingCarrier::getHeader(yarp::os::Bytes &header) const
 {
     if (header.length()==8) {
         std::string target = "ohbehave";
@@ -33,17 +33,17 @@ bool yarp::os::ModifyingCarrier::respondToHeader(yarp::os::ConnectionState &prot
     return false;
 }
 
-bool yarp::os::ModifyingCarrier::modifiesIncomingData()
+bool yarp::os::ModifyingCarrier::modifiesIncomingData() const
 {
     return true;
 }
 
-bool yarp::os::ModifyingCarrier::modifiesOutgoingData()
+bool yarp::os::ModifyingCarrier::modifiesOutgoingData() const
 {
     return true;
 }
 
-bool yarp::os::ModifyingCarrier::modifiesReply()
+bool yarp::os::ModifyingCarrier::modifiesReply() const
 {
     return true;
 }
@@ -54,7 +54,7 @@ void yarp::os::ModifyingCarrier::setCarrierParams(const yarp::os::Property &para
     YARP_UNUSED(params);
 }
 
-void yarp::os::ModifyingCarrier::getCarrierParams(yarp::os::Property &params)
+void yarp::os::ModifyingCarrier::getCarrierParams(yarp::os::Property &params) const
 {
     YARP_UNUSED(params);
 }
diff --git a/src/libYARP_OS/src/NameServer.cpp b/src/libYARP_OS/src/NameServer.cpp
index 7264ec951ff..fb78580f115 100644
--- a/src/libYARP_OS/src/NameServer.cpp
+++ b/src/libYARP_OS/src/NameServer.cpp
@@ -824,8 +824,8 @@ class MainNameServer : public NameServer, public PortReaderCreator {
         }
     }
 
-    virtual PortReader *create() override {
-        return new MainNameServerWorker(this);
+    virtual PortReader *create() const override {
+        return new MainNameServerWorker(const_cast<MainNameServer*>(this));
     }
 };
 
diff --git a/src/libYARP_OS/src/NameserCarrier.cpp b/src/libYARP_OS/src/NameserCarrier.cpp
index 6c28dae16d6..c98ddbbcc9b 100644
--- a/src/libYARP_OS/src/NameserCarrier.cpp
+++ b/src/libYARP_OS/src/NameserCarrier.cpp
@@ -39,15 +39,15 @@ yarp::os::OutputStream& yarp::os::impl::NameserTwoWayStream::getOutputStream() {
     return delegate->getOutputStream();
 }
 
-const Contact& yarp::os::impl::NameserTwoWayStream::getLocalAddress() {
+const Contact& yarp::os::impl::NameserTwoWayStream::getLocalAddress() const {
     return delegate->getLocalAddress();
 }
 
-const Contact& yarp::os::impl::NameserTwoWayStream::getRemoteAddress() {
+const Contact& yarp::os::impl::NameserTwoWayStream::getRemoteAddress() const {
     return delegate->getRemoteAddress();
 }
 
-bool yarp::os::impl::NameserTwoWayStream::isOk() {
+bool yarp::os::impl::NameserTwoWayStream::isOk() const {
     return delegate->isOk();
 }
 
@@ -67,7 +67,7 @@ void yarp::os::impl::NameserTwoWayStream::endPacket() {
     delegate->endPacket();
 }
 
-yarp::conf::ssize_t yarp::os::impl::NameserTwoWayStream::read(const Bytes& b) {
+yarp::conf::ssize_t yarp::os::impl::NameserTwoWayStream::read(Bytes& b) {
     // assume it is ok for name_ser to go byte-by-byte
     // since this protocol will be phased out
     if (b.length()<=0) {
@@ -98,15 +98,15 @@ yarp::os::impl::NameserCarrier::NameserCarrier() {
     firstSend = true;
 }
 
-std::string yarp::os::impl::NameserCarrier::getName() {
+std::string yarp::os::impl::NameserCarrier::getName() const {
     return "name_ser";
 }
 
-std::string yarp::os::impl::NameserCarrier::getSpecifierName() {
+std::string yarp::os::impl::NameserCarrier::getSpecifierName() const {
     return "NAME_SER";
 }
 
-yarp::os::Carrier *yarp::os::impl::NameserCarrier::create() {
+yarp::os::Carrier *yarp::os::impl::NameserCarrier::create() const {
     return new NameserCarrier();
 }
 
@@ -123,7 +123,7 @@ bool yarp::os::impl::NameserCarrier::checkHeader(const yarp::os::Bytes& header)
     return false;
 }
 
-void yarp::os::impl::NameserCarrier::getHeader(const Bytes& header) {
+void yarp::os::impl::NameserCarrier::getHeader(Bytes& header) const {
     if (header.length()==8) {
         std::string target = getSpecifierName();
         for (int i=0; i<8; i++) {
@@ -133,19 +133,19 @@ void yarp::os::impl::NameserCarrier::getHeader(const Bytes& header) {
 }
 
 
-bool yarp::os::impl::NameserCarrier::requireAck() {
+bool yarp::os::impl::NameserCarrier::requireAck() const {
     return false;
 }
 
-bool yarp::os::impl::NameserCarrier::isTextMode() {
+bool yarp::os::impl::NameserCarrier::isTextMode() const {
     return true;
 }
 
-bool yarp::os::impl::NameserCarrier::supportReply() {
+bool yarp::os::impl::NameserCarrier::supportReply() const {
     return true;
 }
 
-bool yarp::os::impl::NameserCarrier::canEscape() {
+bool yarp::os::impl::NameserCarrier::canEscape() const {
     return false;
 }
 
diff --git a/src/libYARP_OS/src/NetType.cpp b/src/libYARP_OS/src/NetType.cpp
index b7dfddd3af0..b79530a2225 100644
--- a/src/libYARP_OS/src/NetType.cpp
+++ b/src/libYARP_OS/src/NetType.cpp
@@ -24,7 +24,7 @@ int NetType::netInt(const yarp::os::Bytes& code) {
     return tmp;
 }
 
-bool NetType::netInt(int data, const yarp::os::Bytes& code) {
+bool NetType::netInt(int data, yarp::os::Bytes& code) {
     NetInt32 i = data;
     yarp::os::Bytes b((char*)(&i), sizeof(i));
     if (code.length()!=sizeof(i)) {
diff --git a/src/libYARP_OS/src/Network.cpp b/src/libYARP_OS/src/Network.cpp
index 132fed3923a..361ac82ce54 100644
--- a/src/libYARP_OS/src/Network.cpp
+++ b/src/libYARP_OS/src/Network.cpp
@@ -1503,30 +1503,30 @@ class ForwardingCarrier : public Carrier {
     }
 
 
-    virtual Carrier& getContent() {
+    virtual Carrier& getContent() const {
         return car.getContent();
     }
 
-    virtual Carrier *create() override {
+    virtual Carrier *create() const override {
         return owner->create();
     }
 
 
     // Forward yarp::os::Connection methods
 
-    bool isValid() override {
+    bool isValid() const override {
         return car.isValid();
     }
 
-    virtual bool isTextMode() override {
+    virtual bool isTextMode() const override {
         return getContent().isTextMode();
     }
 
-    virtual bool isBareMode() override {
+    virtual bool isBareMode() const override {
         return getContent().isBareMode();
     }
 
-    virtual bool canEscape() override {
+    virtual bool canEscape() const override {
         return getContent().canEscape();
     }
 
@@ -1534,35 +1534,35 @@ class ForwardingCarrier : public Carrier {
         getContent().handleEnvelope(envelope);
     }
 
-    virtual bool requireAck() override {
+    virtual bool requireAck() const override {
         return getContent().requireAck();
     }
 
-    virtual bool supportReply() override {
+    virtual bool supportReply() const override {
         return getContent().supportReply();
     }
 
-    virtual bool isLocal() override {
+    virtual bool isLocal() const override {
         return getContent().isLocal();
     }
 
-    virtual bool isPush() override {
+    virtual bool isPush() const override {
         return getContent().isPush();
     }
 
-    virtual bool isConnectionless() override {
+    virtual bool isConnectionless() const override {
         return getContent().isConnectionless();
     }
 
-    virtual bool isBroadcast() override {
+    virtual bool isBroadcast() const override {
         return getContent().isBroadcast();
     }
 
-    virtual bool isActive() override {
+    virtual bool isActive() const override {
         return getContent().isActive();
     }
 
-    virtual bool modifiesIncomingData() override {
+    virtual bool modifiesIncomingData() const override {
         return getContent().modifiesIncomingData();
     }
 
@@ -1574,19 +1574,19 @@ class ForwardingCarrier : public Carrier {
         return getContent().acceptIncomingData(reader);
     }
 
-    virtual bool modifiesOutgoingData() override {
+    virtual bool modifiesOutgoingData() const override {
         return getContent().modifiesOutgoingData();
     }
 
-    virtual PortWriter& modifyOutgoingData(PortWriter& writer) override {
+    virtual const PortWriter& modifyOutgoingData(const PortWriter& writer) override {
         return getContent().modifyOutgoingData(writer);
     }
 
-    virtual bool acceptOutgoingData(PortWriter& writer) override {
+    virtual bool acceptOutgoingData(const PortWriter& writer) override {
         return getContent().acceptOutgoingData(writer);
     }
 
-    virtual bool modifiesReply() override {
+    virtual bool modifiesReply() const override {
         return getContent().modifiesReply();
     }
 
@@ -1598,11 +1598,11 @@ class ForwardingCarrier : public Carrier {
         getContent().setCarrierParams(params);
     }
 
-    virtual void getCarrierParams(Property& params) override {
+    virtual void getCarrierParams(Property& params) const override {
         getContent().getCarrierParams(params);
     }
 
-    virtual void getHeader(const yarp::os::Bytes& header) override {
+    virtual void getHeader(yarp::os::Bytes& header) const override {
         getContent().getHeader(header);
     }
 
@@ -1610,7 +1610,7 @@ class ForwardingCarrier : public Carrier {
         getContent().prepareDisconnect();
     }
 
-    virtual std::string getName() override {
+    virtual std::string getName() const override {
         return getContent().getName();
     }
 
@@ -1625,11 +1625,11 @@ class ForwardingCarrier : public Carrier {
         getContent().setParameters(header);
     }
 
-    virtual bool canAccept() override {
+    virtual bool canAccept() const override {
         return getContent().canAccept();
     }
 
-    virtual bool canOffer() override {
+    virtual bool canOffer() const override {
         return getContent().canOffer();
     }
 
@@ -1677,7 +1677,7 @@ class ForwardingCarrier : public Carrier {
         return getContent().expectAck(proto);
     }
 
-    virtual std::string toString() override {
+    virtual std::string toString() const override {
         return getContent().toString();
     }
 
@@ -1685,7 +1685,7 @@ class ForwardingCarrier : public Carrier {
         getContent().close();
     }
 
-    virtual std::string getBootstrapCarrierName() override {
+    virtual std::string getBootstrapCarrierName() const override {
         return getContent().getBootstrapCarrierName();
     }
 
@@ -1704,7 +1704,7 @@ class ForwardingCarrier : public Carrier {
         return getContent().configureFromProperty(options);
     }
 
-    virtual yarp::os::Face* createFace(void) override {
+    virtual yarp::os::Face* createFace(void) const override {
         return getContent().createFace();
     }
 };
@@ -1736,12 +1736,12 @@ class StubCarrier : public ForwardingCarrier {
         }
     }
 
-    Carrier& getContent() override {
+    Carrier& getContent() const override {
         return car.getContent();
     }
 
-    virtual Carrier *create() override {
-        ForwardingCarrier *ncar = new ForwardingCarrier(plugin.getFactory(), this);
+    virtual Carrier *create() const override {
+        ForwardingCarrier *ncar = new ForwardingCarrier(plugin.getFactory(), const_cast<StubCarrier*>(this));
         if (ncar==nullptr) {
             return nullptr;
         }
diff --git a/src/libYARP_OS/src/NullConnectionReader.cpp b/src/libYARP_OS/src/NullConnectionReader.cpp
index 9f53106509a..2677ce36729 100644
--- a/src/libYARP_OS/src/NullConnectionReader.cpp
+++ b/src/libYARP_OS/src/NullConnectionReader.cpp
@@ -9,7 +9,7 @@
 #include <yarp/os/NullConnectionReader.h>
 
 
-bool yarp::os::NullConnectionReader::expectBlock(const char *data, size_t len)
+bool yarp::os::NullConnectionReader::expectBlock(char *data, size_t len)
 {
     YARP_UNUSED(data);
     YARP_UNUSED(len);
@@ -57,7 +57,7 @@ bool yarp::os::NullConnectionReader::pushInt(int x)
     YARP_UNUSED(x);
     return false;
 }
-bool yarp::os::NullConnectionReader::isTextMode()
+bool yarp::os::NullConnectionReader::isTextMode() const
 {
     return false;
 }
@@ -67,7 +67,7 @@ bool yarp::os::NullConnectionReader::convertTextMode()
     return false;
 }
 
-size_t yarp::os::NullConnectionReader::getSize()
+size_t yarp::os::NullConnectionReader::getSize() const
 {
     return 0;
 }
@@ -82,32 +82,32 @@ yarp::os::Bytes yarp::os::NullConnectionReader::readEnvelope()
     return Bytes(nullptr, 0);
 }
 
-yarp::os::Portable *yarp::os::NullConnectionReader::getReference()
+yarp::os::Portable *yarp::os::NullConnectionReader::getReference() const
 {
     return nullptr;
 }
 
-yarp::os::Contact yarp::os::NullConnectionReader::getRemoteContact()
+yarp::os::Contact yarp::os::NullConnectionReader::getRemoteContact() const
 {
     return Contact();
 }
 
-yarp::os::Contact yarp::os::NullConnectionReader::getLocalContact()
+yarp::os::Contact yarp::os::NullConnectionReader::getLocalContact() const
 {
     return Contact();
 }
 
-bool yarp::os::NullConnectionReader::isValid()
+bool yarp::os::NullConnectionReader::isValid() const
 {
     return false;
 }
 
-bool yarp::os::NullConnectionReader::isActive()
+bool yarp::os::NullConnectionReader::isActive() const
 {
     return false;
 }
 
-bool yarp::os::NullConnectionReader::isError()
+bool yarp::os::NullConnectionReader::isError() const
 {
     return true;
 }
@@ -116,7 +116,7 @@ void yarp::os::NullConnectionReader::requestDrop()
 {
 }
 
-yarp::os::Searchable& yarp::os::NullConnectionReader::getConnectionModifiers()
+const yarp::os::Searchable& yarp::os::NullConnectionReader::getConnectionModifiers() const
 {
     return blank;
 }
diff --git a/src/libYARP_OS/src/NullConnectionWriter.cpp b/src/libYARP_OS/src/NullConnectionWriter.cpp
index 2acc7595c18..8cf0086f45b 100644
--- a/src/libYARP_OS/src/NullConnectionWriter.cpp
+++ b/src/libYARP_OS/src/NullConnectionWriter.cpp
@@ -57,12 +57,12 @@ void yarp::os::NullConnectionWriter::appendExternalBlock(const char *data, size_
     YARP_UNUSED(len);
 }
 
-bool yarp::os::NullConnectionWriter::isTextMode()
+bool yarp::os::NullConnectionWriter::isTextMode() const
 {
     return false;
 }
 
-bool yarp::os::NullConnectionWriter::isBareMode()
+bool yarp::os::NullConnectionWriter::isBareMode() const
 {
     return false;
 }
@@ -88,17 +88,17 @@ bool yarp::os::NullConnectionWriter::convertTextMode()
     return false;
 }
 
-bool yarp::os::NullConnectionWriter::isValid()
+bool yarp::os::NullConnectionWriter::isValid() const
 {
     return false;
 }
 
-bool yarp::os::NullConnectionWriter::isActive()
+bool yarp::os::NullConnectionWriter::isActive() const
 {
     return true;
 }
 
-bool yarp::os::NullConnectionWriter::isError()
+bool yarp::os::NullConnectionWriter::isError() const
 {
     return true;
 }
@@ -112,7 +112,7 @@ bool yarp::os::NullConnectionWriter::isNull() const
     return true;
 }
 
-yarp::os::SizedWriter *yarp::os::NullConnectionWriter::getBuffer()
+yarp::os::SizedWriter *yarp::os::NullConnectionWriter::getBuffer() const
 {
     return nullptr;
 }
diff --git a/src/libYARP_OS/src/OutputStream.cpp b/src/libYARP_OS/src/OutputStream.cpp
index 8a9c55e9d92..2e1f1fa8d17 100644
--- a/src/libYARP_OS/src/OutputStream.cpp
+++ b/src/libYARP_OS/src/OutputStream.cpp
@@ -20,7 +20,8 @@ void yarp::os::OutputStream::write(char ch)
 
 void yarp::os::OutputStream::write(const Bytes& b, int offset, int len)
 {
-    write(yarp::os::Bytes(b.get() + offset, len));
+    const yarp::os::Bytes bytes(const_cast<char*>(b.get()) + offset, len);
+    write(bytes);
 }
 
 void yarp::os::OutputStream::flush()
diff --git a/src/libYARP_OS/src/Port.cpp b/src/libYARP_OS/src/Port.cpp
index 2b98281ee22..7612e326837 100644
--- a/src/libYARP_OS/src/Port.cpp
+++ b/src/libYARP_OS/src/Port.cpp
@@ -434,7 +434,7 @@ bool Port::addOutput(const Contact& contact)
 }
 
 
-bool Port::write(PortWriter& writer, PortWriter *callback) const
+bool Port::write(const PortWriter& writer, const PortWriter *callback) const
 {
     PortCoreAdapter& core = IMPL();
     if (core.isInterrupted()) return false;
@@ -455,9 +455,9 @@ bool Port::write(PortWriter& writer, PortWriter *callback) const
     return result;
 }
 
-bool Port::write(PortWriter& writer,
+bool Port::write(const PortWriter& writer,
                  PortReader& reader,
-                 PortWriter *callback) const
+                 const PortWriter *callback) const
 {
     PortCoreAdapter& core = IMPL();
     if (core.isInterrupted()) return false;
diff --git a/src/libYARP_OS/src/PortCommand.cpp b/src/libYARP_OS/src/PortCommand.cpp
index 3703c3c7d01..ff81fde28e4 100644
--- a/src/libYARP_OS/src/PortCommand.cpp
+++ b/src/libYARP_OS/src/PortCommand.cpp
@@ -45,7 +45,7 @@ bool PortCommand::read(ConnectionReader& reader) {
     return true;
 }
 
-bool PortCommand::write(ConnectionWriter& writer) {
+bool PortCommand::write(ConnectionWriter& writer) const {
     //ACE_DEBUG((LM_DEBUG, "PortCommand::writeBlock"));
     //printf("Writing port command, text mode %d\n", writer.isTextMode());
     if (!writer.isTextMode()) {
diff --git a/src/libYARP_OS/src/PortCore.cpp b/src/libYARP_OS/src/PortCore.cpp
index eb1e977a4ce..81e525908b5 100644
--- a/src/libYARP_OS/src/PortCore.cpp
+++ b/src/libYARP_OS/src/PortCore.cpp
@@ -1334,9 +1334,9 @@ bool PortCore::readBlock(ConnectionReader& reader, void *id, OutputStream *os)
 }
 
 
-bool PortCore::send(PortWriter& writer,
+bool PortCore::send(const PortWriter& writer,
                     PortReader *reader,
-                    PortWriter *callback)
+                    const PortWriter *callback)
 {
     // check if there is any modifier
     // we need to protect this part while the modifier
@@ -1358,10 +1358,10 @@ bool PortCore::send(PortWriter& writer,
     return sendHelper(writer, PORTCORE_SEND_NORMAL, reader, callback);
 }
 
-bool PortCore::sendHelper(PortWriter& writer,
+bool PortCore::sendHelper(const PortWriter& writer,
                           int mode,
                           PortReader *reader,
-                          PortWriter *callback)
+                          const PortWriter *callback)
 {
     if (interrupted||finishing) return false;
 
diff --git a/src/libYARP_OS/src/PortCoreOutputUnit.cpp b/src/libYARP_OS/src/PortCoreOutputUnit.cpp
index c36d4f77537..1ab13ce08dd 100644
--- a/src/libYARP_OS/src/PortCoreOutputUnit.cpp
+++ b/src/libYARP_OS/src/PortCoreOutputUnit.cpp
@@ -281,11 +281,18 @@ bool PortCoreOutputUnit::sendHelper()
         }
 
         if (op->getConnection().isLocal()) {
-            buf.setReference(dynamic_cast<yarp::os::Portable *>
-                             (cachedWriter));
+            // WARNING Cast away const qualifier.
+            //         This may actually cause bugs when using the local carrier
+            //         with something that is actually const (i.e. that is using
+            //         some parts of memory that cannot be written.
+            yarp::os::PortWriter* pw = const_cast<yarp::os::PortWriter*>(cachedWriter);
+            yarp::os::Portable* p = dynamic_cast<yarp::os::Portable*>(pw);
+            if(p == nullptr) {
+                YARP_ERROR(Logger::get(), "PortCoreOutputUnit: cast failed.");
+                return false;
+            }
+            buf.setReference(p);
         } else {
-
-
             yAssert(cachedWriter != nullptr);
             bool ok = cachedWriter->write(buf);
             if (!ok) {
@@ -345,9 +352,9 @@ bool PortCoreOutputUnit::sendHelper()
     return replied;
 }
 
-void *PortCoreOutputUnit::send(yarp::os::PortWriter& writer,
+void *PortCoreOutputUnit::send(const yarp::os::PortWriter& writer,
                                yarp::os::PortReader *reader,
-                               yarp::os::PortWriter *callback,
+                               const yarp::os::PortWriter *callback,
                                void *tracker,
                                const std::string& envelopeString,
                                bool waitAfter,
diff --git a/src/libYARP_OS/src/PortWriter.cpp b/src/libYARP_OS/src/PortWriter.cpp
index 1948f6af5c9..83c30db1c6f 100644
--- a/src/libYARP_OS/src/PortWriter.cpp
+++ b/src/libYARP_OS/src/PortWriter.cpp
@@ -13,11 +13,11 @@
 
 yarp::os::PortWriter::~PortWriter() = default;
 
-void yarp::os::PortWriter::onCompletion()
+void yarp::os::PortWriter::onCompletion() const
 {
 }
 
-void yarp::os::PortWriter::onCommencement()
+void yarp::os::PortWriter::onCommencement() const
 {
 }
 
diff --git a/src/libYARP_OS/src/PortWriterBuffer.cpp b/src/libYARP_OS/src/PortWriterBuffer.cpp
index ba7d1f22451..abe059e9db4 100644
--- a/src/libYARP_OS/src/PortWriterBuffer.cpp
+++ b/src/libYARP_OS/src/PortWriterBuffer.cpp
@@ -65,7 +65,7 @@ class PortWriterBufferBaseHelper : public PortWriterBufferManager {
         YARP_DEBUG(Logger::get(), "finished writes");
     }
 
-    void *get() {
+    const void* get() {
         if (callback!=nullptr) {
             // (Safe to check outside mutex)
             // oops, there is already a prepared and unwritten
@@ -94,7 +94,7 @@ class PortWriterBufferBaseHelper : public PortWriterBufferManager {
 
     bool release() {
         stateSema.wait();
-        PortWriter *cback = callback;
+        const PortWriter* cback = callback;
         current = nullptr;
         callback = nullptr;
         stateSema.post();
@@ -137,8 +137,8 @@ class PortWriterBufferBaseHelper : public PortWriterBufferManager {
             finishWrites();
         }
         stateSema.wait();
-        PortWriter *active = current;
-        PortWriter *cback = callback;
+        const PortWriter *active = current;
+        const PortWriter *cback = callback;
         current = nullptr;
         callback = nullptr;
         stateSema.post();
@@ -156,8 +156,8 @@ class PortWriterBufferBaseHelper : public PortWriterBufferManager {
     yarp::os::Semaphore stateSema;
     yarp::os::Semaphore completionSema;
     Port *port;
-    PortWriter *current;
-    PortWriter *callback;
+    const PortWriter *current;
+    const PortWriter *callback;
     bool finishing;
     int outCt;
 };
@@ -190,7 +190,7 @@ PortWriterBufferBase::~PortWriterBufferBase() {
 }
 
 
-void *PortWriterBufferBase::getContent() {
+const void* PortWriterBufferBase::getContent() const {
     return HELPER(implementation).get();
 }
 
diff --git a/src/libYARP_OS/src/PortablePair.cpp b/src/libYARP_OS/src/PortablePair.cpp
index c3e493d1599..fc507e4803f 100644
--- a/src/libYARP_OS/src/PortablePair.cpp
+++ b/src/libYARP_OS/src/PortablePair.cpp
@@ -33,8 +33,8 @@ bool yarp::os::PortablePairBase::readPair(ConnectionReader& connection,
 }
 
 bool yarp::os::PortablePairBase::writePair(ConnectionWriter& connection,
-                                           Portable& head,
-                                           Portable& body)
+                                           const Portable& head,
+                                           const Portable& body)
 {
     connection.appendInt32(BOTTLE_TAG_LIST); // nested structure
     connection.appendInt32(2);               // with two elements
diff --git a/src/libYARP_OS/src/Property.cpp b/src/libYARP_OS/src/Property.cpp
index 0f1edbffbb5..f52aee119df 100644
--- a/src/libYARP_OS/src/Property.cpp
+++ b/src/libYARP_OS/src/Property.cpp
@@ -49,6 +49,16 @@ class PropertyItem {
         }
     }
 
+    /*
+     * The const version of the processBuffered() method performs a const_cast,
+     * and calls the non-const version. This allows to call it in const methods.
+     * Conceptually this is not completely wrong because it does not modify
+     * the external state of the class, but just some internal representation.
+     */
+    void flush() const {
+        const_cast<PropertyItem*>(this)->flush();
+    }
+
     void flush() {
         if (backing) {
             Bottle flatten(backing->toString());
@@ -57,7 +67,7 @@ class PropertyItem {
         }
     }
 
-    std::string toString() {
+    std::string toString() const {
         flush();
         return bot.toString();
     }
@@ -674,10 +684,10 @@ class PropertyHelper {
         }
     }
 
-    std::string toString() {
+    std::string toString() const {
         Bottle bot;
-        for (std::map<std::string, PropertyItem>::iterator it = data.begin(); it != data.end(); ++it) {
-            PropertyItem& rec = it->second;
+        for (std::map<std::string, PropertyItem>::const_iterator it = data.begin(); it != data.end(); ++it) {
+            const PropertyItem& rec = it->second;
             Bottle& sub = bot.addList();
             rec.flush();
             sub.copy(rec.bot);
@@ -1039,7 +1049,7 @@ bool Property::read(ConnectionReader& reader) {
 }
 
 
-bool Property::write(ConnectionWriter& writer) {
+bool Property::write(ConnectionWriter& writer) const {
     // for now just delegate to Bottle
     Bottle b(toString());
     return b.write(writer);
diff --git a/src/libYARP_OS/src/Protocol.cpp b/src/libYARP_OS/src/Protocol.cpp
index 554d562c27d..06e710d151e 100644
--- a/src/libYARP_OS/src/Protocol.cpp
+++ b/src/libYARP_OS/src/Protocol.cpp
@@ -108,7 +108,7 @@ void Protocol::setRoute(const Route& route)
 }
 
 
-const Route& Protocol::getRoute()
+const Route& Protocol::getRoute() const
 {
     return route;
 }
@@ -135,7 +135,7 @@ TwoWayStream* Protocol::giveStreams()
 }
 
 
-bool Protocol::checkStreams()
+bool Protocol::checkStreams() const
 {
     return shift.isOk();
 }
@@ -147,7 +147,7 @@ void Protocol::setReference(yarp::os::Portable* ref)
 }
 
 
-std::string Protocol::getSenderSpecifier()
+std::string Protocol::getSenderSpecifier() const
 {
     Route r = getRoute();
     // We pull the sender name from the route.
@@ -176,13 +176,13 @@ std::string Protocol::getSenderSpecifier()
 }
 
 
-const std::string& Protocol::getEnvelope()
+const std::string& Protocol::getEnvelope() const
 {
     return envelope;
 }
 
 
-Log& Protocol::getLog()
+Log& Protocol::getLog() const
 {
     return log;
 }
@@ -203,7 +203,7 @@ Connection& Protocol::getConnection()
 }
 
 
-Contactable* Protocol::getContactable()
+Contactable* Protocol::getContactable() const
 {
     return port;
 }
@@ -281,7 +281,7 @@ void Protocol::rename(const Route& route)
 }
 
 
-bool Protocol::isOk()
+bool Protocol::isOk() const
 {
     if (!checkStreams() || recv_delegate_fail || send_delegate_fail) {
         return false;
@@ -409,7 +409,7 @@ void Protocol::attachPort(yarp::os::Contactable* port)
 }
 
 
-bool Protocol::isReplying()
+bool Protocol::isReplying() const
 {
     return pendingReply;
 }
diff --git a/src/libYARP_OS/src/RpcServer.cpp b/src/libYARP_OS/src/RpcServer.cpp
index 1d97fdf2975..671335006ea 100644
--- a/src/libYARP_OS/src/RpcServer.cpp
+++ b/src/libYARP_OS/src/RpcServer.cpp
@@ -25,7 +25,7 @@ RpcServer::~RpcServer()
     port.close();
 }
 
-bool RpcServer::write(PortWriter& writer, PortWriter *callback) const
+bool RpcServer::write(const PortWriter& writer, const PortWriter *callback) const
 {
     YARP_UNUSED(writer);
     YARP_UNUSED(callback);
@@ -33,9 +33,9 @@ bool RpcServer::write(PortWriter& writer, PortWriter *callback) const
     return false;
 }
 
-bool RpcServer::write(PortWriter& writer,
+bool RpcServer::write(const PortWriter& writer,
                       PortReader& reader,
-                      PortWriter *callback) const
+                      const PortWriter *callback) const
 {
     YARP_UNUSED(writer);
     YARP_UNUSED(reader);
diff --git a/src/libYARP_OS/src/SizedWriter.cpp b/src/libYARP_OS/src/SizedWriter.cpp
index c880263b69a..6fc3ad4dffb 100644
--- a/src/libYARP_OS/src/SizedWriter.cpp
+++ b/src/libYARP_OS/src/SizedWriter.cpp
@@ -24,7 +24,7 @@ void yarp::os::SizedWriter::write(OutputStream& os)
     }
 }
 
-bool yarp::os::SizedWriter::write(ConnectionWriter& connection)
+bool yarp::os::SizedWriter::write(ConnectionWriter& connection) const
 {
     for (size_t i = 0; i < length(); i++) {
         connection.appendBlock((char*)data(i), length(i));
diff --git a/src/libYARP_OS/src/Stamp.cpp b/src/libYARP_OS/src/Stamp.cpp
index 354c1c75dd4..a2f99440408 100644
--- a/src/libYARP_OS/src/Stamp.cpp
+++ b/src/libYARP_OS/src/Stamp.cpp
@@ -85,7 +85,7 @@ bool yarp::os::Stamp::read(ConnectionReader& connection)
     return !connection.isError();
 }
 
-bool yarp::os::Stamp::write(ConnectionWriter& connection)
+bool yarp::os::Stamp::write(ConnectionWriter& connection) const
 {
     if (connection.isTextMode()) {
         char buf[512];
diff --git a/src/libYARP_OS/src/Storable.cpp b/src/libYARP_OS/src/Storable.cpp
index 15d810706c4..b1bd0615f19 100644
--- a/src/libYARP_OS/src/Storable.cpp
+++ b/src/libYARP_OS/src/Storable.cpp
@@ -219,7 +219,7 @@ bool Storable::read(ConnectionReader& connection)
     return readRaw(connection);
 }
 
-bool Storable::write(ConnectionWriter& connection)
+bool Storable::write(ConnectionWriter& connection) const
 {
     connection.appendInt32(getCode());
     return writeRaw(connection);
@@ -247,7 +247,7 @@ bool StoreInt8::readRaw(ConnectionReader& reader)
     return true;
 }
 
-bool StoreInt8::writeRaw(ConnectionWriter& writer)
+bool StoreInt8::writeRaw(ConnectionWriter& writer) const
 {
     writer.appendInt8(x);
     return true;
@@ -275,7 +275,7 @@ bool StoreInt16::readRaw(ConnectionReader& reader)
     return true;
 }
 
-bool StoreInt16::writeRaw(ConnectionWriter& writer)
+bool StoreInt16::writeRaw(ConnectionWriter& writer) const
 {
     writer.appendInt16(x);
     return true;
@@ -303,7 +303,7 @@ bool StoreInt32::readRaw(ConnectionReader& reader)
     return true;
 }
 
-bool StoreInt32::writeRaw(ConnectionWriter& writer)
+bool StoreInt32::writeRaw(ConnectionWriter& writer) const
 {
     writer.appendInt32(x);
     return true;
@@ -331,7 +331,7 @@ bool StoreInt64::readRaw(ConnectionReader& reader)
     return true;
 }
 
-bool StoreInt64::writeRaw(ConnectionWriter& writer)
+bool StoreInt64::writeRaw(ConnectionWriter& writer) const
 {
     writer.appendInt64(x);
     return true;
@@ -390,7 +390,7 @@ bool StoreVocab::readRaw(ConnectionReader& reader)
     return true;
 }
 
-bool StoreVocab::writeRaw(ConnectionWriter& writer)
+bool StoreVocab::writeRaw(ConnectionWriter& writer) const
 {
     writer.appendInt32(x);
     return true;
@@ -417,7 +417,7 @@ bool StoreFloat32::readRaw(ConnectionReader& reader)
     return true;
 }
 
-bool StoreFloat32::writeRaw(ConnectionWriter& writer)
+bool StoreFloat32::writeRaw(ConnectionWriter& writer) const
 {
     writer.appendFloat32(x);
     return true;
@@ -443,7 +443,7 @@ bool StoreFloat64::readRaw(ConnectionReader& reader)
     return true;
 }
 
-bool StoreFloat64::writeRaw(ConnectionWriter& writer)
+bool StoreFloat64::writeRaw(ConnectionWriter& writer) const
 {
     writer.appendFloat64(x);
     return true;
@@ -579,7 +579,7 @@ bool StoreString::readRaw(ConnectionReader& reader)
     return true;
 }
 
-bool StoreString::writeRaw(ConnectionWriter& writer)
+bool StoreString::writeRaw(ConnectionWriter& writer) const
 {
     writer.appendInt32(static_cast<std::int32_t>(x.length()));
     writer.appendBlock(x.c_str(), x.length());
@@ -639,7 +639,7 @@ bool StoreBlob::readRaw(ConnectionReader& reader)
     return true;
 }
 
-bool StoreBlob::writeRaw(ConnectionWriter& writer)
+bool StoreBlob::writeRaw(ConnectionWriter& writer) const
 {
     writer.appendInt32(static_cast<std::int32_t>(x.length()));
     writer.appendBlock(x.c_str(), x.length());
@@ -683,7 +683,7 @@ bool StoreList::readRaw(ConnectionReader& reader)
     return true;
 }
 
-bool StoreList::writeRaw(ConnectionWriter& writer)
+bool StoreList::writeRaw(ConnectionWriter& writer) const
 {
     // not using the most efficient representation
     content.write(writer);
@@ -732,7 +732,7 @@ bool StoreDict::readRaw(ConnectionReader& reader)
     return true;
 }
 
-bool StoreDict::writeRaw(ConnectionWriter& writer)
+bool StoreDict::writeRaw(ConnectionWriter& writer) const
 {
     // not using the most efficient representation
     content.write(writer);
diff --git a/src/libYARP_OS/src/StreamConnectionReader.cpp b/src/libYARP_OS/src/StreamConnectionReader.cpp
index b36027e8f88..6b6bdfd0211 100644
--- a/src/libYARP_OS/src/StreamConnectionReader.cpp
+++ b/src/libYARP_OS/src/StreamConnectionReader.cpp
@@ -81,7 +81,7 @@ bool StreamConnectionReader::dropRequested()
     return shouldDrop;
 }
 
-bool StreamConnectionReader::expectBlock(const Bytes &b)
+bool StreamConnectionReader::expectBlock(Bytes &b)
 {
     if (!isGood()) {
         return false;
@@ -167,7 +167,7 @@ bool StreamConnectionReader::setSize(size_t len)
     return true;
 }
 
-size_t StreamConnectionReader::getSize()
+size_t StreamConnectionReader::getSize() const
 {
     return messageLen + (pushedIntFlag?sizeof(yarp::os::NetInt32):0);
 }
@@ -251,9 +251,10 @@ yarp::conf::float64_t StreamConnectionReader::expectFloat64()
     return expectType<yarp::conf::float64_t, NetFloat64>();
 }
 
-bool StreamConnectionReader::expectBlock(const char *data, size_t len)
+bool StreamConnectionReader::expectBlock(char *data, size_t len)
 {
-    return expectBlock(yarp::os::Bytes((char*)data, len));
+    yarp::os::Bytes bytes(data, len);
+    return expectBlock(bytes);
 }
 
 std::string StreamConnectionReader::expectText(int terminatingChar)
@@ -270,12 +271,12 @@ std::string StreamConnectionReader::expectText(int terminatingChar)
     return std::string(result.c_str());
 }
 
-bool StreamConnectionReader::isTextMode()
+bool StreamConnectionReader::isTextMode() const
 {
     return textMode;
 }
 
-bool StreamConnectionReader::isBareMode()
+bool StreamConnectionReader::isBareMode() const
 {
     return bareMode;
 }
@@ -315,7 +316,7 @@ yarp::os::ConnectionWriter* StreamConnectionReader::getWriter()
     return writer;
 }
 
-yarp::os::Contact StreamConnectionReader::getRemoteContact()
+yarp::os::Contact StreamConnectionReader::getRemoteContact() const
 {
     if (str!=nullptr) {
         Contact remote = str->getRemoteAddress();
@@ -326,7 +327,7 @@ yarp::os::Contact StreamConnectionReader::getRemoteContact()
     return remote;
 }
 
-yarp::os::Contact StreamConnectionReader::getLocalContact()
+yarp::os::Contact StreamConnectionReader::getLocalContact() const
 {
     if (str!=nullptr) {
         Contact local = str->getLocalAddress();
@@ -336,12 +337,12 @@ yarp::os::Contact StreamConnectionReader::getLocalContact()
     return yarp::os::Contact();
 }
 
-bool StreamConnectionReader::isValid()
+bool StreamConnectionReader::isValid() const
 {
     return valid;
 }
 
-bool StreamConnectionReader::isError()
+bool StreamConnectionReader::isError() const
 {
     if (err) {
         return true;
@@ -349,7 +350,7 @@ bool StreamConnectionReader::isError()
     return !isActive();
 }
 
-bool StreamConnectionReader::isActive()
+bool StreamConnectionReader::isActive() const
 {
     if (shouldDrop) {
         return false;
@@ -365,7 +366,7 @@ bool StreamConnectionReader::isActive()
     return false;
 }
 
-yarp::os::Portable* StreamConnectionReader::getReference()
+yarp::os::Portable* StreamConnectionReader::getReference() const
 {
     return ref;
 }
@@ -387,11 +388,11 @@ void StreamConnectionReader::requestDrop()
     shouldDrop = true;
 }
 
-Searchable& StreamConnectionReader::getConnectionModifiers()
+const Searchable& StreamConnectionReader::getConnectionModifiers() const
 {
     if (config.size()==0) {
         if (protocol) {
-            config.fromString(protocol->getSenderSpecifier().c_str());
+            const_cast<Bottle&>(config).fromString(protocol->getSenderSpecifier().c_str());
         }
     }
     return config;
diff --git a/src/libYARP_OS/src/SystemInfoSerializer.cpp b/src/libYARP_OS/src/SystemInfoSerializer.cpp
index f1c8a546ea8..b11569d7991 100644
--- a/src/libYARP_OS/src/SystemInfoSerializer.cpp
+++ b/src/libYARP_OS/src/SystemInfoSerializer.cpp
@@ -99,7 +99,7 @@ bool SystemInfoSerializer::read(yarp::os::ConnectionReader& connection)
 }
 
 
-bool SystemInfoSerializer::write(yarp::os::ConnectionWriter& connection)
+bool SystemInfoSerializer::write(yarp::os::ConnectionWriter& connection) const
 {
     mPriv->updateSystemInfo();
 
diff --git a/src/libYARP_OS/src/TcpCarrier.cpp b/src/libYARP_OS/src/TcpCarrier.cpp
index bdac264a346..48ba2711f7c 100644
--- a/src/libYARP_OS/src/TcpCarrier.cpp
+++ b/src/libYARP_OS/src/TcpCarrier.cpp
@@ -17,15 +17,15 @@ yarp::os::impl::TcpCarrier::TcpCarrier(bool requireAckFlag) {
     this->requireAckFlag = requireAckFlag;
 }
 
-yarp::os::Carrier *yarp::os::impl::TcpCarrier::create() {
+yarp::os::Carrier *yarp::os::impl::TcpCarrier::create() const {
     return new TcpCarrier(requireAckFlag);
 }
 
-std::string yarp::os::impl::TcpCarrier::getName() {
+std::string yarp::os::impl::TcpCarrier::getName() const {
     return requireAckFlag?"tcp":"fast_tcp";
 }
 
-int yarp::os::impl::TcpCarrier::getSpecifierCode() {
+int yarp::os::impl::TcpCarrier::getSpecifierCode() const {
     return 3;
 }
 
@@ -39,7 +39,7 @@ bool yarp::os::impl::TcpCarrier::checkHeader(const yarp::os::Bytes& header) {
     return false;
 }
 
-void yarp::os::impl::TcpCarrier::getHeader(const yarp::os::Bytes& header) {
+void yarp::os::impl::TcpCarrier::getHeader(yarp::os::Bytes& header) const {
     createStandardHeader(getSpecifierCode()+(requireAckFlag?128:0), header);
 }
 
@@ -50,11 +50,11 @@ void yarp::os::impl::TcpCarrier::setParameters(const yarp::os::Bytes& header) {
     // Now prefilter by ack flag
 }
 
-bool yarp::os::impl::TcpCarrier::requireAck() {
+bool yarp::os::impl::TcpCarrier::requireAck() const {
     return requireAckFlag;
 }
 
-bool yarp::os::impl::TcpCarrier::isConnectionless() {
+bool yarp::os::impl::TcpCarrier::isConnectionless() const {
     return false;
 }
 
diff --git a/src/libYARP_OS/src/TcpFace.cpp b/src/libYARP_OS/src/TcpFace.cpp
index b3bd2a0ca6a..f62251ce6a3 100644
--- a/src/libYARP_OS/src/TcpFace.cpp
+++ b/src/libYARP_OS/src/TcpFace.cpp
@@ -142,6 +142,6 @@ OutputProtocol *TcpFace::write(const Contact& address) {
 }
 
 
-Contact TcpFace::getLocalAddress() {
+Contact TcpFace::getLocalAddress() const {
     return address;
 }
diff --git a/src/libYARP_OS/src/TextCarrier.cpp b/src/libYARP_OS/src/TextCarrier.cpp
index 830fccdbcba..590b7c2506a 100644
--- a/src/libYARP_OS/src/TextCarrier.cpp
+++ b/src/libYARP_OS/src/TextCarrier.cpp
@@ -18,7 +18,7 @@ yarp::os::impl::TextCarrier::TextCarrier(bool ackVariant)
     this->ackVariant = ackVariant;
 }
 
-std::string yarp::os::impl::TextCarrier::getName()
+std::string yarp::os::impl::TextCarrier::getName() const
 {
     if (ackVariant) {
         return "text_ack";
@@ -26,7 +26,7 @@ std::string yarp::os::impl::TextCarrier::getName()
     return "text";
 }
 
-std::string yarp::os::impl::TextCarrier::getSpecifierName()
+std::string yarp::os::impl::TextCarrier::getSpecifierName() const
 {
     if (ackVariant) {
         return "CONNACK ";
@@ -48,7 +48,7 @@ bool yarp::os::impl::TextCarrier::checkHeader(const Bytes& header)
     return false;
 }
 
-void yarp::os::impl::TextCarrier::getHeader(const Bytes& header)
+void yarp::os::impl::TextCarrier::getHeader(Bytes& header) const
 {
     if (header.length() == 8) {
         std::string target = getSpecifierName();
@@ -58,23 +58,23 @@ void yarp::os::impl::TextCarrier::getHeader(const Bytes& header)
     }
 }
 
-yarp::os::Carrier* yarp::os::impl::TextCarrier::create()
+yarp::os::Carrier* yarp::os::impl::TextCarrier::create() const
 {
     return new TextCarrier(ackVariant);
 }
 
-bool yarp::os::impl::TextCarrier::requireAck()
+bool yarp::os::impl::TextCarrier::requireAck() const
 {
     return ackVariant;
 }
 
-bool yarp::os::impl::TextCarrier::isTextMode()
+bool yarp::os::impl::TextCarrier::isTextMode() const
 {
     return true;
 }
 
 
-bool yarp::os::impl::TextCarrier::supportReply()
+bool yarp::os::impl::TextCarrier::supportReply() const
 {
     return requireAck();
 }
diff --git a/src/libYARP_OS/src/TwoWayStream.cpp b/src/libYARP_OS/src/TwoWayStream.cpp
index f2651e2485d..1b916d5dae1 100644
--- a/src/libYARP_OS/src/TwoWayStream.cpp
+++ b/src/libYARP_OS/src/TwoWayStream.cpp
@@ -25,15 +25,15 @@ OutputStream& NullStream::getOutputStream() {
     return * this;
 }
 
-const Contact& NullStream::getLocalAddress() {
+const Contact& NullStream::getLocalAddress() const {
     return address;
 }
 
-const Contact& NullStream::getRemoteAddress() {
+const Contact& NullStream::getRemoteAddress() const {
     return address;
 }
 
-bool NullStream::isOk() {
+bool NullStream::isOk() const {
     return false;
 }
 
@@ -49,7 +49,7 @@ void NullStream::beginPacket() {
 void NullStream::endPacket()   {
 }
 
-yarp::conf::ssize_t NullStream::read(const Bytes& b) {
+yarp::conf::ssize_t NullStream::read(Bytes& b) {
     YARP_UNUSED(b);
     return -1;
 }
diff --git a/src/libYARP_OS/src/UdpCarrier.cpp b/src/libYARP_OS/src/UdpCarrier.cpp
index d3a94911d9f..589f9ed49e6 100644
--- a/src/libYARP_OS/src/UdpCarrier.cpp
+++ b/src/libYARP_OS/src/UdpCarrier.cpp
@@ -16,15 +16,15 @@ using namespace yarp::os::impl;
 yarp::os::impl::UdpCarrier::UdpCarrier() {
 }
 
-yarp::os::Carrier *yarp::os::impl::UdpCarrier::create() {
+yarp::os::Carrier *yarp::os::impl::UdpCarrier::create() const {
     return new UdpCarrier();
 }
 
-std::string yarp::os::impl::UdpCarrier::getName() {
+std::string yarp::os::impl::UdpCarrier::getName() const {
     return "udp";
 }
 
-int yarp::os::impl::UdpCarrier::getSpecifierCode() {
+int yarp::os::impl::UdpCarrier::getSpecifierCode() const {
     return 0;
 }
 
@@ -32,7 +32,7 @@ bool yarp::os::impl::UdpCarrier::checkHeader(const Bytes& header) {
     return getSpecifier(header)%16 == getSpecifierCode();
 }
 
-void yarp::os::impl::UdpCarrier::getHeader(const Bytes& header) {
+void yarp::os::impl::UdpCarrier::getHeader(Bytes& header) const {
     createStandardHeader(getSpecifierCode(), header);
 }
 
@@ -40,11 +40,11 @@ void yarp::os::impl::UdpCarrier::setParameters(const Bytes& header) {
     YARP_UNUSED(header);
 }
 
-bool yarp::os::impl::UdpCarrier::requireAck() {
+bool yarp::os::impl::UdpCarrier::requireAck() const {
     return false;
 }
 
-bool yarp::os::impl::UdpCarrier::isConnectionless() {
+bool yarp::os::impl::UdpCarrier::isConnectionless() const {
     return true;
 }
 
diff --git a/src/libYARP_OS/src/UnitTest.cpp b/src/libYARP_OS/src/UnitTest.cpp
index 1d109a9a6f7..58a3883ba7f 100644
--- a/src/libYARP_OS/src/UnitTest.cpp
+++ b/src/libYARP_OS/src/UnitTest.cpp
@@ -66,7 +66,7 @@ class RootUnitTest : public UnitTest {
         // no parent
     }
 
-    virtual std::string getName() override {
+    virtual std::string getName() const override {
         return "root";
     }
 };
diff --git a/src/libYARP_OS/src/Value.cpp b/src/libYARP_OS/src/Value.cpp
index 16629f60b20..e9b49345f77 100644
--- a/src/libYARP_OS/src/Value.cpp
+++ b/src/libYARP_OS/src/Value.cpp
@@ -294,7 +294,7 @@ bool Value::read(ConnectionReader& connection)
     return s->readRaw(connection);
 }
 
-bool Value::write(ConnectionWriter& connection)
+bool Value::write(ConnectionWriter& connection) const
 {
     if (!proxy) {
         connection.appendInt32(BOTTLE_TAG_LIST);
diff --git a/src/libYARP_OS/src/WirePortable.cpp b/src/libYARP_OS/src/WirePortable.cpp
index c75174d701e..a2f49aabd3c 100644
--- a/src/libYARP_OS/src/WirePortable.cpp
+++ b/src/libYARP_OS/src/WirePortable.cpp
@@ -15,7 +15,7 @@ bool yarp::os::idl::WirePortable::read(yarp::os::idl::WireReader& reader) {
     return false;
 }
 
-bool yarp::os::idl::WirePortable::write(yarp::os::idl::WireWriter& writer) {
+bool yarp::os::idl::WirePortable::write(const yarp::os::idl::WireWriter& writer) const {
     YARP_UNUSED(writer);
     return false;
 }
diff --git a/src/libYARP_OS/src/WireReader.cpp b/src/libYARP_OS/src/WireReader.cpp
index 883af6abac3..042d323f6f6 100644
--- a/src/libYARP_OS/src/WireReader.cpp
+++ b/src/libYARP_OS/src/WireReader.cpp
@@ -371,7 +371,7 @@ bool WireReader::readString(std::string& str, bool *is_vocab)
         return false;
     }
     str.resize(len);
-    reader.expectBlock((const char *)str.c_str(), len);
+    reader.expectBlock(const_cast<char*>(str.data()), len);
 #ifndef YARP_NO_DEPRECATED // Since YARP 2.3.72
     // This is needed for compatibility with versions of yarp before March 2015
     if (len>0) {
@@ -416,7 +416,7 @@ bool WireReader::readBinary(std::string& str)
         return false;
     }
     str.resize(len);
-    reader.expectBlock((const char *)str.c_str(), len);
+    reader.expectBlock(const_cast<char*>(str.data()), len);
     return !reader.isError();
 }
 
@@ -454,7 +454,7 @@ bool WireReader::readEnum(std::int32_t& x, WireVocab& converter)
         }
         std::string str;
         str.resize(len);
-        reader.expectBlock((const char *)str.c_str(), len);
+        reader.expectBlock(const_cast<char*>(str.data()), len);
         str.resize(len-1);
         state->len--;
         if (reader.isError()) {
diff --git a/src/libYARP_OS/src/WireWriter.cpp b/src/libYARP_OS/src/WireWriter.cpp
index d800646dbd0..e61ac02f09a 100644
--- a/src/libYARP_OS/src/WireWriter.cpp
+++ b/src/libYARP_OS/src/WireWriter.cpp
@@ -39,79 +39,79 @@ bool WireWriter::isNull() const {
     return writer.isNull();
 }
 
-bool WireWriter::write(WirePortable& obj) {
+bool WireWriter::write(const WirePortable& obj) const {
     return obj.write(*this);
 }
 
-bool WireWriter::write(yarp::os::PortWriter& obj) {
+bool WireWriter::write(const yarp::os::PortWriter& obj) const {
     return obj.write(writer);
 }
 
-bool WireWriter::writeNested(WirePortable& obj) {
+bool WireWriter::writeNested(const WirePortable& obj) const {
     return obj.write(writer);
 }
 
-bool WireWriter::writeNested(yarp::os::PortWriter& obj) {
+bool WireWriter::writeNested(const yarp::os::PortWriter& obj) const {
     return obj.write(writer);
 }
 
-bool WireWriter::writeBool(bool x) {
+bool WireWriter::writeBool(bool x) const {
     writer.appendInt32(BOTTLE_TAG_VOCAB);
     writer.appendInt32(x?VOCAB2('o', 'k'):VOCAB4('f', 'a', 'i', 'l'));
     return !writer.isError();
 }
 
-bool WireWriter::writeI8(std::int8_t x) {
+bool WireWriter::writeI8(std::int8_t x) const {
     writer.appendInt32(BOTTLE_TAG_INT8);
     writer.appendInt8(x);
     return !writer.isError();
 }
 
-bool WireWriter::writeI16(std::int16_t x) {
+bool WireWriter::writeI16(std::int16_t x) const {
     writer.appendInt32(BOTTLE_TAG_INT16);
     writer.appendInt16(x);
     return !writer.isError();
 }
 
-bool WireWriter::writeI32(std::int32_t x) {
+bool WireWriter::writeI32(std::int32_t x) const {
     writer.appendInt32(BOTTLE_TAG_INT32);
     writer.appendInt32(x);
     return !writer.isError();
 }
 
-bool WireWriter::writeI64(std::int64_t x) {
+bool WireWriter::writeI64(std::int64_t x) const {
     writer.appendInt32(BOTTLE_TAG_INT64);
     writer.appendInt64(x);
     return !writer.isError();
 }
 
-bool WireWriter::writeFloat32(yarp::conf::float32_t x) {
+bool WireWriter::writeFloat32(yarp::conf::float32_t x) const {
     writer.appendInt32(BOTTLE_TAG_FLOAT32);
     writer.appendFloat32(x);
     return !writer.isError();
 }
 
-bool WireWriter::writeFloat64(yarp::conf::float64_t x) {
+bool WireWriter::writeFloat64(yarp::conf::float64_t x) const {
     writer.appendInt32(BOTTLE_TAG_FLOAT64);
     writer.appendFloat64(x);
     return !writer.isError();
 }
 
-bool WireWriter::writeVocab(std::int32_t x) {
+bool WireWriter::writeVocab(std::int32_t x) const {
     writer.appendInt32(BOTTLE_TAG_VOCAB);
     writer.appendInt32(x);
     return !writer.isError();
 }
 
-bool WireWriter::isValid() {
+bool WireWriter::isValid() const {
     return writer.isValid();
 }
 
-bool WireWriter::isError() {
+bool WireWriter::isError() const {
     return writer.isError();
 }
 
-bool WireWriter::writeTag(const char *tag, int split, int len) {
+bool WireWriter::writeTag(const char *tag, int split, int len) const {
     YARP_UNUSED(len);
     if (!split) {
         return writeString(tag);
@@ -135,7 +135,7 @@ bool WireWriter::writeTag(const char *tag, int split, int len) {
     return true;
 }
 
-bool WireWriter::writeString(const std::string& tag) {
+bool WireWriter::writeString(const std::string& tag) const {
     writer.appendInt32(BOTTLE_TAG_STRING);
     // WARNING tag.length() value is not checked here
     writer.appendInt32((int)tag.length());
@@ -143,7 +143,7 @@ bool WireWriter::writeString(const std::string& tag) {
     return !writer.isError();
 }
 
-bool WireWriter::writeBinary(const std::string& tag) {
+bool WireWriter::writeBinary(const std::string& tag) const {
     writer.appendInt32(BOTTLE_TAG_BLOB);
     // WARNING tag.length() value is not checked here
     writer.appendInt32((int)tag.length());
@@ -151,7 +151,7 @@ bool WireWriter::writeBinary(const std::string& tag) {
     return !writer.isError();
 }
 
-bool WireWriter::writeListHeader(int len) {
+bool WireWriter::writeListHeader(int len) const {
     writer.appendInt32(BOTTLE_TAG_LIST);
     if (get_mode) {
         writer.appendInt32(len+3);
@@ -171,7 +171,7 @@ bool WireWriter::writeListHeader(int len) {
 }
 
 
-bool WireWriter::writeListBegin(int tag, std::uint32_t len) {
+bool WireWriter::writeListBegin(int tag, std::uint32_t len) const {
     YARP_UNUSED(tag);
     // this should be optimized for double/int/etc
     writer.appendInt32(BOTTLE_TAG_LIST);
@@ -179,11 +179,11 @@ bool WireWriter::writeListBegin(int tag, std::uint32_t len) {
     return !writer.isError();
 }
 
-bool WireWriter::writeSetBegin(int tag, std::uint32_t len) {
+bool WireWriter::writeSetBegin(int tag, std::uint32_t len) const {
     return writeListBegin(tag, len);
 }
 
-bool WireWriter::writeMapBegin(int tag, int tag2, std::uint32_t len) {
+bool WireWriter::writeMapBegin(int tag, int tag2, std::uint32_t len) const {
     YARP_UNUSED(tag);
     YARP_UNUSED(tag2);
     writer.appendInt32(BOTTLE_TAG_LIST);
@@ -191,19 +191,19 @@ bool WireWriter::writeMapBegin(int tag, int tag2, std::uint32_t len) {
     return !writer.isError();
 }
 
-bool WireWriter::writeListEnd() {
+bool WireWriter::writeListEnd() const {
     return true;
 }
 
-bool WireWriter::writeSetEnd() {
+bool WireWriter::writeSetEnd() const {
     return true;
 }
 
-bool WireWriter::writeMapEnd() {
+bool WireWriter::writeMapEnd() const {
     return true;
 }
 
-bool WireWriter::writeOnewayResponse() {
+bool WireWriter::writeOnewayResponse() const {
     if (!writeListHeader(1)) return false;
     writer.appendInt32(BOTTLE_TAG_VOCAB);
     writer.appendInt32(VOCAB4('d', 'o', 'n', 'e'));
diff --git a/src/libYARP_dev/include/yarp/dev/DriverLinkCreator.h b/src/libYARP_dev/include/yarp/dev/DriverLinkCreator.h
index 8ce22109c05..2ab081928ec 100644
--- a/src/libYARP_dev/include/yarp/dev/DriverLinkCreator.h
+++ b/src/libYARP_dev/include/yarp/dev/DriverLinkCreator.h
@@ -37,25 +37,25 @@ class YARP_dev_API yarp::dev::DriverLinkCreator : public DriverCreator {
         holding.close();
     }
 
-    virtual std::string toString() override {
+    virtual std::string toString() const override {
         return name;
     }
 
-    virtual DeviceDriver *create() override {
+    virtual DeviceDriver *create() const override {
         DeviceDriver *internal;
-        holding.view(internal);
+        const_cast<PolyDriver&>(holding).view(internal);
         return internal;
     }
 
-    virtual std::string getName() override {
+    virtual std::string getName() const override {
         return name;
     }
 
-    virtual std::string getWrapper() override {
+    virtual std::string getWrapper() const override {
         return "(link)";
     }
 
-    virtual std::string getCode() override {
+    virtual std::string getCode() const override {
         return "DriverLinkCreator";
     }
 
diff --git a/src/libYARP_dev/include/yarp/dev/Drivers.h b/src/libYARP_dev/include/yarp/dev/Drivers.h
index 859dbf976ef..70e8d231753 100644
--- a/src/libYARP_dev/include/yarp/dev/Drivers.h
+++ b/src/libYARP_dev/include/yarp/dev/Drivers.h
@@ -39,18 +39,18 @@ class YARP_dev_API yarp::dev::DriverCreator {
      * Returns a simple description of devices the factory can make.
      * @return a description of what this factory makes
      */
-    virtual std::string toString() = 0;
+    virtual std::string toString() const = 0;
 
     /**
      * Create a device.
      */
-    virtual DeviceDriver *create() = 0;
+    virtual DeviceDriver *create() const = 0;
 
     /**
      * Get the common name of the device.
      * @return the common name of the device this creates.
      */
-    virtual std::string getName() = 0;
+    virtual std::string getName() const = 0;
 
     /**
      * Get the common name of a device that can wrap this one.
@@ -58,14 +58,14 @@ class YARP_dev_API yarp::dev::DriverCreator {
      * @return the common name of the device that can wrap this one
      * for the network.
      */
-    virtual std::string getWrapper() = 0;
+    virtual std::string getWrapper() const = 0;
 
     /**
      * Get the name of the C++ class associated with this device.
      *
      * @return the name of the C++ class associated with this device.
      */
-    virtual std::string getCode() = 0;
+    virtual std::string getCode() const = 0;
 
     /**
      * For "links" to other devices.
@@ -104,23 +104,23 @@ class yarp::dev::DriverCreatorOf : public DriverCreator {
     {
     }
 
-    virtual std::string toString() override {
+    virtual std::string toString() const override {
         return desc;
     }
 
-    virtual std::string getName() override {
+    virtual std::string getName() const override {
         return desc;
     }
 
-    virtual std::string getWrapper() override {
+    virtual std::string getWrapper() const override {
         return wrap;
     }
 
-    virtual std::string getCode() override {
+    virtual std::string getCode() const override {
         return code;
     }
 
-    virtual DeviceDriver *create() override {
+    virtual DeviceDriver *create() const override {
         return new T;
     }
 };
@@ -140,23 +140,23 @@ class YARP_dev_API yarp::dev::StubDriverCreator : public DriverCreator {
     {
     }
 
-    virtual std::string toString() override {
+    virtual std::string toString() const override {
         return desc;
     }
 
-    virtual std::string getName() override {
+    virtual std::string getName() const override {
         return desc;
     }
 
-    virtual std::string getWrapper() override {
+    virtual std::string getWrapper() const override {
         return wrap;
     }
 
-    virtual std::string getCode() override {
+    virtual std::string getCode() const override {
         return code;
     }
 
-    virtual DeviceDriver *create() override;
+    virtual DeviceDriver *create() const override;
 };
 
 
@@ -218,7 +218,7 @@ class YARP_dev_API yarp::dev::Drivers {
      * A description of the available devices.
      * @return a description of the available devices.
      */
-    virtual std::string toString();
+    virtual std::string toString() const;
 
     /**
      * Destructor.
diff --git a/src/libYARP_dev/include/yarp/dev/Map2DLocation.h b/src/libYARP_dev/include/yarp/dev/Map2DLocation.h
index 68b99174d17..d1546344271 100644
--- a/src/libYARP_dev/include/yarp/dev/Map2DLocation.h
+++ b/src/libYARP_dev/include/yarp/dev/Map2DLocation.h
@@ -54,7 +54,7 @@ namespace yarp
             * Returns text representation of the location.
             * @return a human readable string containing the location infos.
             */
-            std::string toString()
+            std::string toString() const
             {
                 std::ostringstream stringStream;
                 stringStream.precision(-1);
diff --git a/src/libYARP_dev/include/yarp/dev/MapGrid2D.h b/src/libYARP_dev/include/yarp/dev/MapGrid2D.h
index c47f48d4d23..9e7d644ee57 100644
--- a/src/libYARP_dev/include/yarp/dev/MapGrid2D.h
+++ b/src/libYARP_dev/include/yarp/dev/MapGrid2D.h
@@ -275,7 +275,7 @@ namespace yarp
                 * Write vector to a connection.
                 * return true iff a vector was written correctly
                 */
-                virtual bool write(yarp::os::ConnectionWriter& connection) override;
+                virtual bool write(yarp::os::ConnectionWriter& connection) const override;
         };
     }
 }
diff --git a/src/libYARP_dev/src/Drivers.cpp b/src/libYARP_dev/src/Drivers.cpp
index 4bbdcd6dbe1..c8b44de3a56 100644
--- a/src/libYARP_dev/src/Drivers.cpp
+++ b/src/libYARP_dev/src/Drivers.cpp
@@ -190,7 +190,7 @@ class StubDriver : public DeviceDriver {
         }
     }
 
-    bool isValid() {
+    bool isValid() const {
         return dev.isValid();
     }
 
@@ -208,27 +208,27 @@ class StubDriver : public DeviceDriver {
         return &dev.getContent();
     }
 
-    std::string getDllName() {
+    std::string getDllName() const {
         return settings.getLibraryName();
     }
 
-    std::string getFnName() {
+    std::string getFnName() const {
         return settings.getMethodName();
     }
 
-    std::string getwrapName() {
+    std::string getwrapName() const {
         return settings.getWrapperName();
     }
 
-    std::string getPluginName() {
+    std::string getPluginName() const {
         return settings.getPluginName();
     }
 
-    std::string getClassName() {
+    std::string getClassName() const {
         return settings.getClassName();
     }
 
-    std::string getBaseClassName() {
+    std::string getBaseClassName() const {
         return settings.getBaseClassName();
     }
 };
@@ -249,7 +249,7 @@ Drivers::~Drivers() {
     }
 }
 
-std::string Drivers::toString() {
+std::string Drivers::toString() const {
     return HELPER(implementation).toString();
 }
 
@@ -606,7 +606,7 @@ int Drivers::yarpdev(int argc, char *argv[]) {
     return 0;
 }
 
-DeviceDriver *StubDriverCreator::create() {
+DeviceDriver *StubDriverCreator::create() const {
     //yDebug("Creating %s from %s\n", desc.c_str(), libname.c_str());
     StubDriver *result = new StubDriver(libname.c_str(),fnname.c_str(),false);
     if (result==nullptr) return result;
diff --git a/src/libYARP_dev/src/MapGrid2D.cpp b/src/libYARP_dev/src/MapGrid2D.cpp
index d756ff27fbb..153e8588498 100644
--- a/src/libYARP_dev/src/MapGrid2D.cpp
+++ b/src/libYARP_dev/src/MapGrid2D.cpp
@@ -779,7 +779,7 @@ bool MapGrid2D::read(yarp::os::ConnectionReader& connection)
         return true;
 }
 
-bool MapGrid2D::write(yarp::os::ConnectionWriter& connection)
+bool MapGrid2D::write(yarp::os::ConnectionWriter& connection) const
 {
     connection.appendInt32(BOTTLE_TAG_LIST);
     connection.appendInt32(9);
diff --git a/src/libYARP_dev/src/devices/JoypadControlServer/JoypadControlNetUtils.h b/src/libYARP_dev/src/devices/JoypadControlServer/JoypadControlNetUtils.h
index e9968852ddd..7cd7e22d75a 100644
--- a/src/libYARP_dev/src/devices/JoypadControlServer/JoypadControlNetUtils.h
+++ b/src/libYARP_dev/src/devices/JoypadControlServer/JoypadControlNetUtils.h
@@ -50,7 +50,7 @@ struct JoyData : public yarp::os::Portable
         return !connection.isError();
     }
 
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(Buttons.length());
         connection.appendInt32(Sticks.length());
diff --git a/src/libYARP_dev/src/devices/msgs/yarp/include/jointData.h b/src/libYARP_dev/src/devices/msgs/yarp/include/jointData.h
index 30a2251b7ae..702341d464f 100644
--- a/src/libYARP_dev/src/devices/msgs/yarp/include/jointData.h
+++ b/src/libYARP_dev/src/devices/msgs/yarp/include/jointData.h
@@ -109,54 +109,54 @@ class jointData : public yarp::os::idl::WirePortable {
   // read and write structure on a connection
   bool read(yarp::os::idl::WireReader& reader) override;
   bool read(yarp::os::ConnectionReader& connection) override;
-  bool write(yarp::os::idl::WireWriter& writer) override;
-  bool write(yarp::os::ConnectionWriter& connection) override;
+  bool write(const yarp::os::idl::WireWriter& writer) const override;
+  bool write(yarp::os::ConnectionWriter& connection) const override;
 
 private:
-  bool write_jointPosition(yarp::os::idl::WireWriter& writer);
-  bool nested_write_jointPosition(yarp::os::idl::WireWriter& writer);
-  bool write_jointPosition_isValid(yarp::os::idl::WireWriter& writer);
-  bool nested_write_jointPosition_isValid(yarp::os::idl::WireWriter& writer);
-  bool write_jointVelocity(yarp::os::idl::WireWriter& writer);
-  bool nested_write_jointVelocity(yarp::os::idl::WireWriter& writer);
-  bool write_jointVelocity_isValid(yarp::os::idl::WireWriter& writer);
-  bool nested_write_jointVelocity_isValid(yarp::os::idl::WireWriter& writer);
-  bool write_jointAcceleration(yarp::os::idl::WireWriter& writer);
-  bool nested_write_jointAcceleration(yarp::os::idl::WireWriter& writer);
-  bool write_jointAcceleration_isValid(yarp::os::idl::WireWriter& writer);
-  bool nested_write_jointAcceleration_isValid(yarp::os::idl::WireWriter& writer);
-  bool write_motorPosition(yarp::os::idl::WireWriter& writer);
-  bool nested_write_motorPosition(yarp::os::idl::WireWriter& writer);
-  bool write_motorPosition_isValid(yarp::os::idl::WireWriter& writer);
-  bool nested_write_motorPosition_isValid(yarp::os::idl::WireWriter& writer);
-  bool write_motorVelocity(yarp::os::idl::WireWriter& writer);
-  bool nested_write_motorVelocity(yarp::os::idl::WireWriter& writer);
-  bool write_motorVelocity_isValid(yarp::os::idl::WireWriter& writer);
-  bool nested_write_motorVelocity_isValid(yarp::os::idl::WireWriter& writer);
-  bool write_motorAcceleration(yarp::os::idl::WireWriter& writer);
-  bool nested_write_motorAcceleration(yarp::os::idl::WireWriter& writer);
-  bool write_motorAcceleration_isValid(yarp::os::idl::WireWriter& writer);
-  bool nested_write_motorAcceleration_isValid(yarp::os::idl::WireWriter& writer);
-  bool write_torque(yarp::os::idl::WireWriter& writer);
-  bool nested_write_torque(yarp::os::idl::WireWriter& writer);
-  bool write_torque_isValid(yarp::os::idl::WireWriter& writer);
-  bool nested_write_torque_isValid(yarp::os::idl::WireWriter& writer);
-  bool write_pwmDutycycle(yarp::os::idl::WireWriter& writer);
-  bool nested_write_pwmDutycycle(yarp::os::idl::WireWriter& writer);
-  bool write_pwmDutycycle_isValid(yarp::os::idl::WireWriter& writer);
-  bool nested_write_pwmDutycycle_isValid(yarp::os::idl::WireWriter& writer);
-  bool write_current(yarp::os::idl::WireWriter& writer);
-  bool nested_write_current(yarp::os::idl::WireWriter& writer);
-  bool write_current_isValid(yarp::os::idl::WireWriter& writer);
-  bool nested_write_current_isValid(yarp::os::idl::WireWriter& writer);
-  bool write_controlMode(yarp::os::idl::WireWriter& writer);
-  bool nested_write_controlMode(yarp::os::idl::WireWriter& writer);
-  bool write_controlMode_isValid(yarp::os::idl::WireWriter& writer);
-  bool nested_write_controlMode_isValid(yarp::os::idl::WireWriter& writer);
-  bool write_interactionMode(yarp::os::idl::WireWriter& writer);
-  bool nested_write_interactionMode(yarp::os::idl::WireWriter& writer);
-  bool write_interactionMode_isValid(yarp::os::idl::WireWriter& writer);
-  bool nested_write_interactionMode_isValid(yarp::os::idl::WireWriter& writer);
+  bool write_jointPosition(const yarp::os::idl::WireWriter& writer) const;
+  bool nested_write_jointPosition(const yarp::os::idl::WireWriter& writer) const;
+  bool write_jointPosition_isValid(const yarp::os::idl::WireWriter& writer) const;
+  bool nested_write_jointPosition_isValid(const yarp::os::idl::WireWriter& writer) const;
+  bool write_jointVelocity(const yarp::os::idl::WireWriter& writer) const;
+  bool nested_write_jointVelocity(const yarp::os::idl::WireWriter& writer) const;
+  bool write_jointVelocity_isValid(const yarp::os::idl::WireWriter& writer) const;
+  bool nested_write_jointVelocity_isValid(const yarp::os::idl::WireWriter& writer) const;
+  bool write_jointAcceleration(const yarp::os::idl::WireWriter& writer) const;
+  bool nested_write_jointAcceleration(const yarp::os::idl::WireWriter& writer) const;
+  bool write_jointAcceleration_isValid(const yarp::os::idl::WireWriter& writer) const;
+  bool nested_write_jointAcceleration_isValid(const yarp::os::idl::WireWriter& writer) const;
+  bool write_motorPosition(const yarp::os::idl::WireWriter& writer) const;
+  bool nested_write_motorPosition(const yarp::os::idl::WireWriter& writer) const;
+  bool write_motorPosition_isValid(const yarp::os::idl::WireWriter& writer) const;
+  bool nested_write_motorPosition_isValid(const yarp::os::idl::WireWriter& writer) const;
+  bool write_motorVelocity(const yarp::os::idl::WireWriter& writer) const;
+  bool nested_write_motorVelocity(const yarp::os::idl::WireWriter& writer) const;
+  bool write_motorVelocity_isValid(const yarp::os::idl::WireWriter& writer) const;
+  bool nested_write_motorVelocity_isValid(const yarp::os::idl::WireWriter& writer) const;
+  bool write_motorAcceleration(const yarp::os::idl::WireWriter& writer) const;
+  bool nested_write_motorAcceleration(const yarp::os::idl::WireWriter& writer) const;
+  bool write_motorAcceleration_isValid(const yarp::os::idl::WireWriter& writer) const;
+  bool nested_write_motorAcceleration_isValid(const yarp::os::idl::WireWriter& writer) const;
+  bool write_torque(const yarp::os::idl::WireWriter& writer) const;
+  bool nested_write_torque(const yarp::os::idl::WireWriter& writer) const;
+  bool write_torque_isValid(const yarp::os::idl::WireWriter& writer) const;
+  bool nested_write_torque_isValid(const yarp::os::idl::WireWriter& writer) const;
+  bool write_pwmDutycycle(const yarp::os::idl::WireWriter& writer) const;
+  bool nested_write_pwmDutycycle(const yarp::os::idl::WireWriter& writer) const;
+  bool write_pwmDutycycle_isValid(const yarp::os::idl::WireWriter& writer) const;
+  bool nested_write_pwmDutycycle_isValid(const yarp::os::idl::WireWriter& writer) const;
+  bool write_current(const yarp::os::idl::WireWriter& writer) const;
+  bool nested_write_current(const yarp::os::idl::WireWriter& writer) const;
+  bool write_current_isValid(const yarp::os::idl::WireWriter& writer) const;
+  bool nested_write_current_isValid(const yarp::os::idl::WireWriter& writer) const;
+  bool write_controlMode(const yarp::os::idl::WireWriter& writer) const;
+  bool nested_write_controlMode(const yarp::os::idl::WireWriter& writer) const;
+  bool write_controlMode_isValid(const yarp::os::idl::WireWriter& writer) const;
+  bool nested_write_controlMode_isValid(const yarp::os::idl::WireWriter& writer) const;
+  bool write_interactionMode(const yarp::os::idl::WireWriter& writer) const;
+  bool nested_write_interactionMode(const yarp::os::idl::WireWriter& writer) const;
+  bool write_interactionMode_isValid(const yarp::os::idl::WireWriter& writer) const;
+  bool nested_write_interactionMode_isValid(const yarp::os::idl::WireWriter& writer) const;
   bool read_jointPosition(yarp::os::idl::WireReader& reader);
   bool nested_read_jointPosition(yarp::os::idl::WireReader& reader);
   bool read_jointPosition_isValid(yarp::os::idl::WireReader& reader);
@@ -204,7 +204,7 @@ class jointData : public yarp::os::idl::WirePortable {
 
 public:
 
-  std::string toString();
+  std::string toString() const;
 
   // if you want to serialize this class without nesting, use this helper
   typedef yarp::os::idl::Unwrapped<jointData > unwrapped;
@@ -519,7 +519,7 @@ class jointData : public yarp::os::idl::WirePortable {
       dirty_flags(false);
     }
     bool read(yarp::os::ConnectionReader& connection) override;
-    bool write(yarp::os::ConnectionWriter& connection) override;
+    bool write(yarp::os::ConnectionWriter& connection) const override;
   private:
 
     jointData *obj;
diff --git a/src/libYARP_dev/src/devices/msgs/yarp/src/jointData.cpp b/src/libYARP_dev/src/devices/msgs/yarp/src/jointData.cpp
index 355ec3098e0..7208c0ad997 100644
--- a/src/libYARP_dev/src/devices/msgs/yarp/src/jointData.cpp
+++ b/src/libYARP_dev/src/devices/msgs/yarp/src/jointData.cpp
@@ -351,183 +351,183 @@ bool jointData::read(yarp::os::ConnectionReader& connection) {
   return read(reader);
 }
 
-bool jointData::write_jointPosition(yarp::os::idl::WireWriter& writer) {
+bool jointData::write_jointPosition(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.write(jointPosition)) return false;
   return true;
 }
-bool jointData::nested_write_jointPosition(yarp::os::idl::WireWriter& writer) {
+bool jointData::nested_write_jointPosition(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.writeNested(jointPosition)) return false;
   return true;
 }
-bool jointData::write_jointPosition_isValid(yarp::os::idl::WireWriter& writer) {
+bool jointData::write_jointPosition_isValid(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.writeBool(jointPosition_isValid)) return false;
   return true;
 }
-bool jointData::nested_write_jointPosition_isValid(yarp::os::idl::WireWriter& writer) {
+bool jointData::nested_write_jointPosition_isValid(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.writeBool(jointPosition_isValid)) return false;
   return true;
 }
-bool jointData::write_jointVelocity(yarp::os::idl::WireWriter& writer) {
+bool jointData::write_jointVelocity(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.write(jointVelocity)) return false;
   return true;
 }
-bool jointData::nested_write_jointVelocity(yarp::os::idl::WireWriter& writer) {
+bool jointData::nested_write_jointVelocity(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.writeNested(jointVelocity)) return false;
   return true;
 }
-bool jointData::write_jointVelocity_isValid(yarp::os::idl::WireWriter& writer) {
+bool jointData::write_jointVelocity_isValid(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.writeBool(jointVelocity_isValid)) return false;
   return true;
 }
-bool jointData::nested_write_jointVelocity_isValid(yarp::os::idl::WireWriter& writer) {
+bool jointData::nested_write_jointVelocity_isValid(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.writeBool(jointVelocity_isValid)) return false;
   return true;
 }
-bool jointData::write_jointAcceleration(yarp::os::idl::WireWriter& writer) {
+bool jointData::write_jointAcceleration(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.write(jointAcceleration)) return false;
   return true;
 }
-bool jointData::nested_write_jointAcceleration(yarp::os::idl::WireWriter& writer) {
+bool jointData::nested_write_jointAcceleration(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.writeNested(jointAcceleration)) return false;
   return true;
 }
-bool jointData::write_jointAcceleration_isValid(yarp::os::idl::WireWriter& writer) {
+bool jointData::write_jointAcceleration_isValid(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.writeBool(jointAcceleration_isValid)) return false;
   return true;
 }
-bool jointData::nested_write_jointAcceleration_isValid(yarp::os::idl::WireWriter& writer) {
+bool jointData::nested_write_jointAcceleration_isValid(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.writeBool(jointAcceleration_isValid)) return false;
   return true;
 }
-bool jointData::write_motorPosition(yarp::os::idl::WireWriter& writer) {
+bool jointData::write_motorPosition(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.write(motorPosition)) return false;
   return true;
 }
-bool jointData::nested_write_motorPosition(yarp::os::idl::WireWriter& writer) {
+bool jointData::nested_write_motorPosition(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.writeNested(motorPosition)) return false;
   return true;
 }
-bool jointData::write_motorPosition_isValid(yarp::os::idl::WireWriter& writer) {
+bool jointData::write_motorPosition_isValid(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.writeBool(motorPosition_isValid)) return false;
   return true;
 }
-bool jointData::nested_write_motorPosition_isValid(yarp::os::idl::WireWriter& writer) {
+bool jointData::nested_write_motorPosition_isValid(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.writeBool(motorPosition_isValid)) return false;
   return true;
 }
-bool jointData::write_motorVelocity(yarp::os::idl::WireWriter& writer) {
+bool jointData::write_motorVelocity(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.write(motorVelocity)) return false;
   return true;
 }
-bool jointData::nested_write_motorVelocity(yarp::os::idl::WireWriter& writer) {
+bool jointData::nested_write_motorVelocity(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.writeNested(motorVelocity)) return false;
   return true;
 }
-bool jointData::write_motorVelocity_isValid(yarp::os::idl::WireWriter& writer) {
+bool jointData::write_motorVelocity_isValid(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.writeBool(motorVelocity_isValid)) return false;
   return true;
 }
-bool jointData::nested_write_motorVelocity_isValid(yarp::os::idl::WireWriter& writer) {
+bool jointData::nested_write_motorVelocity_isValid(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.writeBool(motorVelocity_isValid)) return false;
   return true;
 }
-bool jointData::write_motorAcceleration(yarp::os::idl::WireWriter& writer) {
+bool jointData::write_motorAcceleration(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.write(motorAcceleration)) return false;
   return true;
 }
-bool jointData::nested_write_motorAcceleration(yarp::os::idl::WireWriter& writer) {
+bool jointData::nested_write_motorAcceleration(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.writeNested(motorAcceleration)) return false;
   return true;
 }
-bool jointData::write_motorAcceleration_isValid(yarp::os::idl::WireWriter& writer) {
+bool jointData::write_motorAcceleration_isValid(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.writeBool(motorAcceleration_isValid)) return false;
   return true;
 }
-bool jointData::nested_write_motorAcceleration_isValid(yarp::os::idl::WireWriter& writer) {
+bool jointData::nested_write_motorAcceleration_isValid(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.writeBool(motorAcceleration_isValid)) return false;
   return true;
 }
-bool jointData::write_torque(yarp::os::idl::WireWriter& writer) {
+bool jointData::write_torque(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.write(torque)) return false;
   return true;
 }
-bool jointData::nested_write_torque(yarp::os::idl::WireWriter& writer) {
+bool jointData::nested_write_torque(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.writeNested(torque)) return false;
   return true;
 }
-bool jointData::write_torque_isValid(yarp::os::idl::WireWriter& writer) {
+bool jointData::write_torque_isValid(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.writeBool(torque_isValid)) return false;
   return true;
 }
-bool jointData::nested_write_torque_isValid(yarp::os::idl::WireWriter& writer) {
+bool jointData::nested_write_torque_isValid(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.writeBool(torque_isValid)) return false;
   return true;
 }
-bool jointData::write_pwmDutycycle(yarp::os::idl::WireWriter& writer) {
+bool jointData::write_pwmDutycycle(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.write(pwmDutycycle)) return false;
   return true;
 }
-bool jointData::nested_write_pwmDutycycle(yarp::os::idl::WireWriter& writer) {
+bool jointData::nested_write_pwmDutycycle(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.writeNested(pwmDutycycle)) return false;
   return true;
 }
-bool jointData::write_pwmDutycycle_isValid(yarp::os::idl::WireWriter& writer) {
+bool jointData::write_pwmDutycycle_isValid(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.writeBool(pwmDutycycle_isValid)) return false;
   return true;
 }
-bool jointData::nested_write_pwmDutycycle_isValid(yarp::os::idl::WireWriter& writer) {
+bool jointData::nested_write_pwmDutycycle_isValid(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.writeBool(pwmDutycycle_isValid)) return false;
   return true;
 }
-bool jointData::write_current(yarp::os::idl::WireWriter& writer) {
+bool jointData::write_current(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.write(current)) return false;
   return true;
 }
-bool jointData::nested_write_current(yarp::os::idl::WireWriter& writer) {
+bool jointData::nested_write_current(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.writeNested(current)) return false;
   return true;
 }
-bool jointData::write_current_isValid(yarp::os::idl::WireWriter& writer) {
+bool jointData::write_current_isValid(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.writeBool(current_isValid)) return false;
   return true;
 }
-bool jointData::nested_write_current_isValid(yarp::os::idl::WireWriter& writer) {
+bool jointData::nested_write_current_isValid(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.writeBool(current_isValid)) return false;
   return true;
 }
-bool jointData::write_controlMode(yarp::os::idl::WireWriter& writer) {
+bool jointData::write_controlMode(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.write(controlMode)) return false;
   return true;
 }
-bool jointData::nested_write_controlMode(yarp::os::idl::WireWriter& writer) {
+bool jointData::nested_write_controlMode(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.writeNested(controlMode)) return false;
   return true;
 }
-bool jointData::write_controlMode_isValid(yarp::os::idl::WireWriter& writer) {
+bool jointData::write_controlMode_isValid(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.writeBool(controlMode_isValid)) return false;
   return true;
 }
-bool jointData::nested_write_controlMode_isValid(yarp::os::idl::WireWriter& writer) {
+bool jointData::nested_write_controlMode_isValid(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.writeBool(controlMode_isValid)) return false;
   return true;
 }
-bool jointData::write_interactionMode(yarp::os::idl::WireWriter& writer) {
+bool jointData::write_interactionMode(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.write(interactionMode)) return false;
   return true;
 }
-bool jointData::nested_write_interactionMode(yarp::os::idl::WireWriter& writer) {
+bool jointData::nested_write_interactionMode(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.writeNested(interactionMode)) return false;
   return true;
 }
-bool jointData::write_interactionMode_isValid(yarp::os::idl::WireWriter& writer) {
+bool jointData::write_interactionMode_isValid(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.writeBool(interactionMode_isValid)) return false;
   return true;
 }
-bool jointData::nested_write_interactionMode_isValid(yarp::os::idl::WireWriter& writer) {
+bool jointData::nested_write_interactionMode_isValid(const yarp::os::idl::WireWriter& writer) const {
   if (!writer.writeBool(interactionMode_isValid)) return false;
   return true;
 }
-bool jointData::write(yarp::os::idl::WireWriter& writer) {
+bool jointData::write(const yarp::os::idl::WireWriter& writer) const {
   if (!write_jointPosition(writer)) return false;
   if (!write_jointPosition_isValid(writer)) return false;
   if (!write_jointVelocity(writer)) return false;
@@ -553,12 +553,12 @@ bool jointData::write(yarp::os::idl::WireWriter& writer) {
   return !writer.isError();
 }
 
-bool jointData::write(yarp::os::ConnectionWriter& connection) {
+bool jointData::write(yarp::os::ConnectionWriter& connection) const {
   yarp::os::idl::WireWriter writer(connection);
   if (!writer.writeListHeader(22)) return false;
   return write(writer);
 }
-bool jointData::Editor::write(yarp::os::ConnectionWriter& connection) {
+bool jointData::Editor::write(yarp::os::ConnectionWriter& connection) const {
   if (!isValid()) return false;
   yarp::os::idl::WireWriter writer(connection);
   if (!writer.writeListHeader(dirty_count+1)) return false;
@@ -954,7 +954,7 @@ bool jointData::Editor::read(yarp::os::ConnectionReader& connection) {
   return true;
 }
 
-std::string jointData::toString() {
+std::string jointData::toString() const {
   yarp::os::Bottle b;
   b.read(*this);
   return b.toString();
diff --git a/src/libYARP_logger/include/yarp/logger/YarpLogger.h b/src/libYARP_logger/include/yarp/logger/YarpLogger.h
index f09999a312f..b302da309eb 100644
--- a/src/libYARP_logger/include/yarp/logger/YarpLogger.h
+++ b/src/libYARP_logger/include/yarp/logger/YarpLogger.h
@@ -71,7 +71,7 @@ namespace yarp
             {
                 return e_level;
             }
-            std::string toString()
+            std::string toString() const
             {
                 if (e_level == 0) { return "<UNDEFINED>"; }
                 if (e_level == 1) { return "<TRACE>"; }
diff --git a/src/libYARP_math/include/yarp/math/FrameTransform.h b/src/libYARP_math/include/yarp/math/FrameTransform.h
index 977fca49639..43d4696a582 100644
--- a/src/libYARP_math/include/yarp/math/FrameTransform.h
+++ b/src/libYARP_math/include/yarp/math/FrameTransform.h
@@ -126,7 +126,7 @@ namespace yarp
                 return true;
             }
 
-            std::string toString();
+            std::string toString() const;
         };
     }
 }
diff --git a/src/libYARP_math/include/yarp/math/Quaternion.h b/src/libYARP_math/include/yarp/math/Quaternion.h
index 75a96c23046..45d222704b6 100644
--- a/src/libYARP_math/include/yarp/math/Quaternion.h
+++ b/src/libYARP_math/include/yarp/math/Quaternion.h
@@ -42,7 +42,7 @@ class YARP_math_API yarp::math::Quaternion : public yarp::os::Portable
     double& z() ;
     double& w() ;
 
-    std::string toString(int precision = -1, int width = -1);
+    std::string toString(int precision = -1, int width = -1) const;
 
     /**
     * Computes the modulus of the quaternion.
@@ -166,7 +166,7 @@ class YARP_math_API yarp::math::Quaternion : public yarp::os::Portable
     * Write vector to a connection.
     * return true iff a vector was written correctly
     */
-    virtual bool write(yarp::os::ConnectionWriter& connection) override;
+    virtual bool write(yarp::os::ConnectionWriter& connection) const override;
 
     virtual yarp::os::Type getType() const override
     {
diff --git a/src/libYARP_math/include/yarp/math/Vec2D.h b/src/libYARP_math/include/yarp/math/Vec2D.h
index 30f3cc88eee..ea1426a03e4 100644
--- a/src/libYARP_math/include/yarp/math/Vec2D.h
+++ b/src/libYARP_math/include/yarp/math/Vec2D.h
@@ -62,7 +62,7 @@ class YARP_math_API Vec2D : public yarp::os::Portable
     * Write vector to a connection.
     * return true if a Vec2D was written correctly
     */
-    virtual bool write(yarp::os::ConnectionWriter& connection) override;
+    virtual bool write(yarp::os::ConnectionWriter& connection) const override;
 
     virtual yarp::os::Type getType() const override
     {
diff --git a/src/libYARP_math/src/FrameTransform.cpp b/src/libYARP_math/src/FrameTransform.cpp
index 80ea9c07894..78945a857b4 100644
--- a/src/libYARP_math/src/FrameTransform.cpp
+++ b/src/libYARP_math/src/FrameTransform.cpp
@@ -10,7 +10,7 @@
 
 #include <cstdio>
 
-std::string yarp::math::FrameTransform::toString()
+std::string yarp::math::FrameTransform::toString() const
 {
     char buff[1024];
     sprintf(buff, "%s -> %s \n tran: %f %f %f \n rot: %f %f %f %f \n\n",
diff --git a/src/libYARP_math/src/Quaternion.cpp b/src/libYARP_math/src/Quaternion.cpp
index 50dd1d426af..cd98f39ba30 100644
--- a/src/libYARP_math/src/Quaternion.cpp
+++ b/src/libYARP_math/src/Quaternion.cpp
@@ -133,7 +133,7 @@ bool Quaternion::read(yarp::os::ConnectionReader& connection)
     return !connection.isError();
 }
 
-bool Quaternion::write(yarp::os::ConnectionWriter& connection)
+bool Quaternion::write(yarp::os::ConnectionWriter& connection) const
 {
     QuaternionPortContentHeader header;
 
@@ -249,7 +249,7 @@ yarp::sig::Matrix Quaternion::toRotationMatrix3x3() const
     return R;
 }
 
-std::string Quaternion::toString(int precision, int width)
+std::string Quaternion::toString(int precision, int width) const
 {
     std::string ret = "";
     char tmp[350];
diff --git a/src/libYARP_math/src/Vec2D.cpp b/src/libYARP_math/src/Vec2D.cpp
index 8b86d01f87d..0569f829cd5 100644
--- a/src/libYARP_math/src/Vec2D.cpp
+++ b/src/libYARP_math/src/Vec2D.cpp
@@ -77,7 +77,7 @@ bool Vec2D<int>::read(yarp::os::ConnectionReader& connection)
 }
 
 template<>
-bool Vec2D<double>::write(yarp::os::ConnectionWriter& connection)
+bool Vec2D<double>::write(yarp::os::ConnectionWriter& connection) const
 {
     Vec2DPortContentHeader header;
 
@@ -95,7 +95,7 @@ bool Vec2D<double>::write(yarp::os::ConnectionWriter& connection)
 }
 
 template<>
-bool Vec2D<int>::write(yarp::os::ConnectionWriter& connection)
+bool Vec2D<int>::write(yarp::os::ConnectionWriter& connection) const
 {
     Vec2DPortContentHeader header;
 
diff --git a/src/libYARP_name/include/yarp/name/NameServerManager.h b/src/libYARP_name/include/yarp/name/NameServerManager.h
index 165f436802b..6366541861f 100644
--- a/src/libYARP_name/include/yarp/name/NameServerManager.h
+++ b/src/libYARP_name/include/yarp/name/NameServerManager.h
@@ -51,8 +51,8 @@ class yarp::name::NameServerManager : public NameService,
         }
     }
 
-    virtual yarp::os::PortReader *create() override {
-        return new NameServerConnectionHandler(this);
+    virtual yarp::os::PortReader *create() const override {
+        return new NameServerConnectionHandler(const_cast<NameServerManager*>(this));
     }
 
     virtual void lock() override {
diff --git a/src/libYARP_profiler/include/yarp/profiler/NetworkProfiler.h b/src/libYARP_profiler/include/yarp/profiler/NetworkProfiler.h
index 7bddab66a87..f5353b23a60 100644
--- a/src/libYARP_profiler/include/yarp/profiler/NetworkProfiler.h
+++ b/src/libYARP_profiler/include/yarp/profiler/NetworkProfiler.h
@@ -67,11 +67,11 @@ class NetworkProfiler
         std::vector<ConnectionInfo> outputs;
         std::vector<ConnectionInfo> inputs;
         ProcessInfo owner;
-        std::string toString() {
+        std::string toString() const {
             std::ostringstream str;
             str<<"port name: "<<name<<std::endl;
             str<<"outputs:"<<std::endl;
-            std::vector<ConnectionInfo>::iterator itr;
+            std::vector<ConnectionInfo>::const_iterator itr;
             for(itr=outputs.begin(); itr!=outputs.end(); itr++)
                 str<<"   + "<<(*itr).name<<" ("<<(*itr).carrier<<")"<<std::endl;
             str<<"inputs:"<<std::endl;
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/TickDuration.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/TickDuration.h
index 390a52a044b..3cd4f483b15 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/TickDuration.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/TickDuration.h
@@ -119,7 +119,7 @@ class TickDuration : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** sec ***
         connection.appendInt32(sec);
@@ -130,7 +130,7 @@ class TickDuration : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -148,7 +148,7 @@ class TickDuration : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/TickTime.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/TickTime.h
index b2dfcf14cc1..2d7c6a3a668 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/TickTime.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/TickTime.h
@@ -119,7 +119,7 @@ class TickTime : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** sec ***
         connection.appendInt32(sec);
@@ -130,7 +130,7 @@ class TickTime : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -148,7 +148,7 @@ class TickTime : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/actionlib_msgs/GoalID.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/actionlib_msgs/GoalID.h
index 72c2751a475..a965fac9b01 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/actionlib_msgs/GoalID.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/actionlib_msgs/GoalID.h
@@ -102,7 +102,7 @@ class GoalID : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** stamp ***
         if (!stamp.write(connection)) {
@@ -116,7 +116,7 @@ class GoalID : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -136,7 +136,7 @@ class GoalID : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/actionlib_msgs/GoalStatus.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/actionlib_msgs/GoalStatus.h
index 2df2573ef82..49fca013426 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/actionlib_msgs/GoalStatus.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/actionlib_msgs/GoalStatus.h
@@ -156,7 +156,7 @@ class GoalStatus : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** goal_id ***
         if (!goal_id.write(connection)) {
@@ -173,7 +173,7 @@ class GoalStatus : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(13);
@@ -197,7 +197,7 @@ class GoalStatus : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/actionlib_msgs/GoalStatusArray.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/actionlib_msgs/GoalStatusArray.h
index 94a09ae21ad..4139a62e395 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/actionlib_msgs/GoalStatusArray.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/actionlib_msgs/GoalStatusArray.h
@@ -107,7 +107,7 @@ class GoalStatusArray : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -125,7 +125,7 @@ class GoalStatusArray : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -149,7 +149,7 @@ class GoalStatusArray : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/diagnostic_msgs/AddDiagnostics.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/diagnostic_msgs/AddDiagnostics.h
index 6275799e228..b33d82ef46d 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/diagnostic_msgs/AddDiagnostics.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/diagnostic_msgs/AddDiagnostics.h
@@ -103,7 +103,7 @@ class AddDiagnostics : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** load_namespace ***
         connection.appendInt32(load_namespace.length());
@@ -112,7 +112,7 @@ class AddDiagnostics : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(1);
@@ -127,7 +127,7 @@ class AddDiagnostics : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/diagnostic_msgs/AddDiagnosticsReply.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/diagnostic_msgs/AddDiagnosticsReply.h
index 31cee773dc2..a0925bd2e93 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/diagnostic_msgs/AddDiagnosticsReply.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/diagnostic_msgs/AddDiagnosticsReply.h
@@ -89,7 +89,7 @@ class AddDiagnosticsReply : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** success ***
         connection.appendBlock((char*)&success, 1);
@@ -101,7 +101,7 @@ class AddDiagnosticsReply : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -120,7 +120,7 @@ class AddDiagnosticsReply : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/diagnostic_msgs/DiagnosticArray.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/diagnostic_msgs/DiagnosticArray.h
index f3187ef282e..5592de71bb1 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/diagnostic_msgs/DiagnosticArray.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/diagnostic_msgs/DiagnosticArray.h
@@ -104,7 +104,7 @@ class DiagnosticArray : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -122,7 +122,7 @@ class DiagnosticArray : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -146,7 +146,7 @@ class DiagnosticArray : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/diagnostic_msgs/DiagnosticStatus.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/diagnostic_msgs/DiagnosticStatus.h
index 66ddcae7855..b5cd9f9f047 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/diagnostic_msgs/DiagnosticStatus.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/diagnostic_msgs/DiagnosticStatus.h
@@ -175,7 +175,7 @@ class DiagnosticStatus : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** level ***
         connection.appendInt8(level);
@@ -203,7 +203,7 @@ class DiagnosticStatus : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(9);
@@ -241,7 +241,7 @@ class DiagnosticStatus : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/diagnostic_msgs/KeyValue.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/diagnostic_msgs/KeyValue.h
index a8a8a1d0a40..6df1a551fe5 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/diagnostic_msgs/KeyValue.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/diagnostic_msgs/KeyValue.h
@@ -95,7 +95,7 @@ class KeyValue : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** key ***
         connection.appendInt32(key.length());
@@ -108,7 +108,7 @@ class KeyValue : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -128,7 +128,7 @@ class KeyValue : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/diagnostic_msgs/SelfTest.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/diagnostic_msgs/SelfTest.h
index 113d854b7ef..f2856034df6 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/diagnostic_msgs/SelfTest.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/diagnostic_msgs/SelfTest.h
@@ -66,13 +66,13 @@ class SelfTest : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
 
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(0);
@@ -83,7 +83,7 @@ class SelfTest : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/diagnostic_msgs/SelfTestReply.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/diagnostic_msgs/SelfTestReply.h
index d098ef4c4bb..fc800bdc6d8 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/diagnostic_msgs/SelfTestReply.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/diagnostic_msgs/SelfTestReply.h
@@ -114,7 +114,7 @@ class SelfTestReply : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** id ***
         connection.appendInt32(id.length());
@@ -134,7 +134,7 @@ class SelfTestReply : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(3);
@@ -162,7 +162,7 @@ class SelfTestReply : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Accel.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Accel.h
index 647e803bdbc..e873b918351 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Accel.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Accel.h
@@ -93,7 +93,7 @@ class Accel : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** linear ***
         if (!linear.write(connection)) {
@@ -108,7 +108,7 @@ class Accel : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -128,7 +128,7 @@ class Accel : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/AccelStamped.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/AccelStamped.h
index d58ae68090f..21447cfb8dd 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/AccelStamped.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/AccelStamped.h
@@ -94,7 +94,7 @@ class AccelStamped : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -109,7 +109,7 @@ class AccelStamped : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -129,7 +129,7 @@ class AccelStamped : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/AccelWithCovariance.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/AccelWithCovariance.h
index b7ec93ab7aa..2f565c75fcc 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/AccelWithCovariance.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/AccelWithCovariance.h
@@ -108,7 +108,7 @@ class AccelWithCovariance : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** accel ***
         if (!accel.write(connection)) {
@@ -123,7 +123,7 @@ class AccelWithCovariance : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -145,7 +145,7 @@ class AccelWithCovariance : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/AccelWithCovarianceStamped.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/AccelWithCovarianceStamped.h
index c3f09e4ac4a..081f395886d 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/AccelWithCovarianceStamped.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/AccelWithCovarianceStamped.h
@@ -94,7 +94,7 @@ class AccelWithCovarianceStamped : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -109,7 +109,7 @@ class AccelWithCovarianceStamped : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -129,7 +129,7 @@ class AccelWithCovarianceStamped : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Inertia.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Inertia.h
index a76965dc62a..636bb673871 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Inertia.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Inertia.h
@@ -168,7 +168,7 @@ class Inertia : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** m ***
         connection.appendFloat64(m);
@@ -199,7 +199,7 @@ class Inertia : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(8);
@@ -242,7 +242,7 @@ class Inertia : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/InertiaStamped.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/InertiaStamped.h
index 0c9d2bb3f74..fce17401764 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/InertiaStamped.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/InertiaStamped.h
@@ -93,7 +93,7 @@ class InertiaStamped : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -108,7 +108,7 @@ class InertiaStamped : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -128,7 +128,7 @@ class InertiaStamped : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Point.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Point.h
index ad828d464f9..1fd1d561b2f 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Point.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Point.h
@@ -96,7 +96,7 @@ class Point : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** x ***
         connection.appendFloat64(x);
@@ -110,7 +110,7 @@ class Point : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(3);
@@ -132,7 +132,7 @@ class Point : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Point32.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Point32.h
index 7538aa10a93..c5d1d254af4 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Point32.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Point32.h
@@ -102,7 +102,7 @@ class Point32 : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** x ***
         connection.appendFloat32(x);
@@ -116,7 +116,7 @@ class Point32 : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(3);
@@ -138,7 +138,7 @@ class Point32 : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/PointStamped.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/PointStamped.h
index 48cd394fd54..bc989fcd641 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/PointStamped.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/PointStamped.h
@@ -94,7 +94,7 @@ class PointStamped : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -109,7 +109,7 @@ class PointStamped : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -129,7 +129,7 @@ class PointStamped : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Polygon.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Polygon.h
index d80972f80d1..28946910333 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Polygon.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Polygon.h
@@ -88,7 +88,7 @@ class Polygon : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** points ***
         connection.appendInt32(points.size());
@@ -101,7 +101,7 @@ class Polygon : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(1);
@@ -120,7 +120,7 @@ class Polygon : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/PolygonStamped.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/PolygonStamped.h
index fa00cc8e4a1..e55c3283d15 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/PolygonStamped.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/PolygonStamped.h
@@ -94,7 +94,7 @@ class PolygonStamped : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -109,7 +109,7 @@ class PolygonStamped : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -129,7 +129,7 @@ class PolygonStamped : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Pose.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Pose.h
index fa9a94901a6..54d93afeb4e 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Pose.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Pose.h
@@ -94,7 +94,7 @@ class Pose : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** position ***
         if (!position.write(connection)) {
@@ -109,7 +109,7 @@ class Pose : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -129,7 +129,7 @@ class Pose : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Pose2D.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Pose2D.h
index 03b1b3caa6c..0c9e9daa013 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Pose2D.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Pose2D.h
@@ -96,7 +96,7 @@ class Pose2D : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** x ***
         connection.appendFloat64(x);
@@ -110,7 +110,7 @@ class Pose2D : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(3);
@@ -132,7 +132,7 @@ class Pose2D : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/PoseArray.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/PoseArray.h
index 414f931cc3f..49d47ceaab5 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/PoseArray.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/PoseArray.h
@@ -107,7 +107,7 @@ class PoseArray : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -125,7 +125,7 @@ class PoseArray : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -149,7 +149,7 @@ class PoseArray : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/PoseStamped.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/PoseStamped.h
index 49aa2cc1090..436699bc0e2 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/PoseStamped.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/PoseStamped.h
@@ -94,7 +94,7 @@ class PoseStamped : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -109,7 +109,7 @@ class PoseStamped : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -129,7 +129,7 @@ class PoseStamped : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/PoseWithCovariance.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/PoseWithCovariance.h
index 62a7d15faa6..bd851bd8de0 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/PoseWithCovariance.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/PoseWithCovariance.h
@@ -108,7 +108,7 @@ class PoseWithCovariance : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** pose ***
         if (!pose.write(connection)) {
@@ -123,7 +123,7 @@ class PoseWithCovariance : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -145,7 +145,7 @@ class PoseWithCovariance : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/PoseWithCovarianceStamped.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/PoseWithCovarianceStamped.h
index 2a1132f1419..158f9c597ff 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/PoseWithCovarianceStamped.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/PoseWithCovarianceStamped.h
@@ -95,7 +95,7 @@ class PoseWithCovarianceStamped : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -110,7 +110,7 @@ class PoseWithCovarianceStamped : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -130,7 +130,7 @@ class PoseWithCovarianceStamped : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Quaternion.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Quaternion.h
index 92401c8cfee..ed1a6761882 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Quaternion.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Quaternion.h
@@ -109,7 +109,7 @@ class Quaternion : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** x ***
         connection.appendFloat64(x);
@@ -126,7 +126,7 @@ class Quaternion : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(4);
@@ -152,7 +152,7 @@ class Quaternion : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/QuaternionStamped.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/QuaternionStamped.h
index 38c5ad7361d..4d83987eaf8 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/QuaternionStamped.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/QuaternionStamped.h
@@ -95,7 +95,7 @@ class QuaternionStamped : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -110,7 +110,7 @@ class QuaternionStamped : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -130,7 +130,7 @@ class QuaternionStamped : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Transform.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Transform.h
index 844c2ca95e3..11c50ed1e19 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Transform.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Transform.h
@@ -95,7 +95,7 @@ class Transform : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** translation ***
         if (!translation.write(connection)) {
@@ -110,7 +110,7 @@ class Transform : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -130,7 +130,7 @@ class Transform : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/TransformStamped.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/TransformStamped.h
index ebc90d04c31..d5b6d7d05fd 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/TransformStamped.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/TransformStamped.h
@@ -118,7 +118,7 @@ class TransformStamped : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -137,7 +137,7 @@ class TransformStamped : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(3);
@@ -162,7 +162,7 @@ class TransformStamped : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Twist.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Twist.h
index 649f91168d2..d63c3372ba3 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Twist.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Twist.h
@@ -93,7 +93,7 @@ class Twist : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** linear ***
         if (!linear.write(connection)) {
@@ -108,7 +108,7 @@ class Twist : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -128,7 +128,7 @@ class Twist : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/TwistStamped.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/TwistStamped.h
index e0fbc4e5106..28bd9a6dece 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/TwistStamped.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/TwistStamped.h
@@ -94,7 +94,7 @@ class TwistStamped : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -109,7 +109,7 @@ class TwistStamped : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -129,7 +129,7 @@ class TwistStamped : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/TwistWithCovariance.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/TwistWithCovariance.h
index 6c5b133fa1a..05b022b92da 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/TwistWithCovariance.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/TwistWithCovariance.h
@@ -108,7 +108,7 @@ class TwistWithCovariance : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** twist ***
         if (!twist.write(connection)) {
@@ -123,7 +123,7 @@ class TwistWithCovariance : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -145,7 +145,7 @@ class TwistWithCovariance : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/TwistWithCovarianceStamped.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/TwistWithCovarianceStamped.h
index b35ceafad39..5900b77cc3f 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/TwistWithCovarianceStamped.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/TwistWithCovarianceStamped.h
@@ -94,7 +94,7 @@ class TwistWithCovarianceStamped : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -109,7 +109,7 @@ class TwistWithCovarianceStamped : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -129,7 +129,7 @@ class TwistWithCovarianceStamped : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Vector3.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Vector3.h
index 9d94e71f4a1..d9878e348fe 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Vector3.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Vector3.h
@@ -101,7 +101,7 @@ class Vector3 : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** x ***
         connection.appendFloat64(x);
@@ -115,7 +115,7 @@ class Vector3 : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(3);
@@ -137,7 +137,7 @@ class Vector3 : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Vector3Stamped.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Vector3Stamped.h
index 3a02340cb05..ee3ae0d14bb 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Vector3Stamped.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Vector3Stamped.h
@@ -94,7 +94,7 @@ class Vector3Stamped : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -109,7 +109,7 @@ class Vector3Stamped : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -129,7 +129,7 @@ class Vector3Stamped : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Wrench.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Wrench.h
index f2d61a67460..be74c66b165 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Wrench.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/Wrench.h
@@ -94,7 +94,7 @@ class Wrench : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** force ***
         if (!force.write(connection)) {
@@ -109,7 +109,7 @@ class Wrench : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -129,7 +129,7 @@ class Wrench : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/WrenchStamped.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/WrenchStamped.h
index df8a38e3e85..6ff87fd6fcb 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/WrenchStamped.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/geometry_msgs/WrenchStamped.h
@@ -94,7 +94,7 @@ class WrenchStamped : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -109,7 +109,7 @@ class WrenchStamped : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -129,7 +129,7 @@ class WrenchStamped : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/GetMap.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/GetMap.h
index b0232cb2945..c4a0bed0c98 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/GetMap.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/GetMap.h
@@ -65,13 +65,13 @@ class GetMap : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
 
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(0);
@@ -82,7 +82,7 @@ class GetMap : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/GetMapReply.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/GetMapReply.h
index 3eb99974a46..49d52975990 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/GetMapReply.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/GetMapReply.h
@@ -75,7 +75,7 @@ class GetMapReply : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** map ***
         if (!map.write(connection)) {
@@ -85,7 +85,7 @@ class GetMapReply : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(1);
@@ -100,7 +100,7 @@ class GetMapReply : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/GetPlan.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/GetPlan.h
index a10631d1f36..14f20d6edee 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/GetPlan.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/GetPlan.h
@@ -114,7 +114,7 @@ class GetPlan : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** start ***
         if (!start.write(connection)) {
@@ -132,7 +132,7 @@ class GetPlan : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(3);
@@ -156,7 +156,7 @@ class GetPlan : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/GetPlanReply.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/GetPlanReply.h
index f3a51b7e1e5..b38d4c0a9c9 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/GetPlanReply.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/GetPlanReply.h
@@ -75,7 +75,7 @@ class GetPlanReply : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** plan ***
         if (!plan.write(connection)) {
@@ -85,7 +85,7 @@ class GetPlanReply : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(1);
@@ -100,7 +100,7 @@ class GetPlanReply : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/GridCells.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/GridCells.h
index c003ece91eb..47739995742 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/GridCells.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/GridCells.h
@@ -129,7 +129,7 @@ class GridCells : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -153,7 +153,7 @@ class GridCells : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(4);
@@ -185,7 +185,7 @@ class GridCells : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/MapMetaData.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/MapMetaData.h
index 26f12118e48..5f43cc4f321 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/MapMetaData.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/MapMetaData.h
@@ -136,7 +136,7 @@ class MapMetaData : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** map_load_time ***
         if (!map_load_time.write(connection)) {
@@ -160,7 +160,7 @@ class MapMetaData : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(5);
@@ -192,7 +192,7 @@ class MapMetaData : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/OccupancyGrid.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/OccupancyGrid.h
index 38107f1a4c2..4afd815934a 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/OccupancyGrid.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/OccupancyGrid.h
@@ -124,7 +124,7 @@ class OccupancyGrid : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -145,7 +145,7 @@ class OccupancyGrid : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(3);
@@ -172,7 +172,7 @@ class OccupancyGrid : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/Odometry.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/Odometry.h
index cfb23663c7d..802c00d8b08 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/Odometry.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/Odometry.h
@@ -131,7 +131,7 @@ class Odometry : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -155,7 +155,7 @@ class Odometry : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(4);
@@ -185,7 +185,7 @@ class Odometry : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/Path.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/Path.h
index c9c52ce0a6a..f746fc9cadc 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/Path.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/Path.h
@@ -105,7 +105,7 @@ class Path : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -123,7 +123,7 @@ class Path : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -147,7 +147,7 @@ class Path : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/SetMap.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/SetMap.h
index 1121f24635c..88811001425 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/SetMap.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/SetMap.h
@@ -97,7 +97,7 @@ class SetMap : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** map ***
         if (!map.write(connection)) {
@@ -112,7 +112,7 @@ class SetMap : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -132,7 +132,7 @@ class SetMap : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/SetMapReply.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/SetMapReply.h
index 55f8c67d609..88feb4c4ee3 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/SetMapReply.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/nav_msgs/SetMapReply.h
@@ -72,7 +72,7 @@ class SetMapReply : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** success ***
         connection.appendBlock((char*)&success, 1);
@@ -80,7 +80,7 @@ class SetMapReply : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(1);
@@ -94,7 +94,7 @@ class SetMapReply : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/BatteryState.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/BatteryState.h
index 41ad16d731f..b0f1a6cb13f 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/BatteryState.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/BatteryState.h
@@ -355,7 +355,7 @@ class BatteryState : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -409,7 +409,7 @@ class BatteryState : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(35);
@@ -481,7 +481,7 @@ class BatteryState : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/CameraInfo.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/CameraInfo.h
index 507f3167af8..d47389a3d1d 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/CameraInfo.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/CameraInfo.h
@@ -377,7 +377,7 @@ class CameraInfo : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -429,7 +429,7 @@ class CameraInfo : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(11);
@@ -498,7 +498,7 @@ class CameraInfo : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/ChannelFloat32.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/ChannelFloat32.h
index 9bda607500d..54f5930ca62 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/ChannelFloat32.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/ChannelFloat32.h
@@ -122,7 +122,7 @@ class ChannelFloat32 : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** name ***
         connection.appendInt32(name.length());
@@ -137,7 +137,7 @@ class ChannelFloat32 : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -159,7 +159,7 @@ class ChannelFloat32 : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/CompressedImage.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/CompressedImage.h
index bba0b059f3d..9abedb6eff7 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/CompressedImage.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/CompressedImage.h
@@ -127,7 +127,7 @@ class CompressedImage : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -147,7 +147,7 @@ class CompressedImage : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(3);
@@ -174,7 +174,7 @@ class CompressedImage : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/FluidPressure.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/FluidPressure.h
index bcfff454169..2738a056b7f 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/FluidPressure.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/FluidPressure.h
@@ -108,7 +108,7 @@ class FluidPressure : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -124,7 +124,7 @@ class FluidPressure : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(3);
@@ -147,7 +147,7 @@ class FluidPressure : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/Illuminance.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/Illuminance.h
index 81989c1a10b..0a353a42a01 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/Illuminance.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/Illuminance.h
@@ -117,7 +117,7 @@ class Illuminance : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -133,7 +133,7 @@ class Illuminance : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(3);
@@ -156,7 +156,7 @@ class Illuminance : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/Image.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/Image.h
index 4bc249b84e1..4749a41a231 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/Image.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/Image.h
@@ -185,7 +185,7 @@ class Image : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -217,7 +217,7 @@ class Image : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(7);
@@ -260,7 +260,7 @@ class Image : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/Imu.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/Imu.h
index 07c29f2b5a0..bced37d61ec 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/Imu.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/Imu.h
@@ -218,7 +218,7 @@ class Imu : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -258,7 +258,7 @@ class Imu : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(7);
@@ -309,7 +309,7 @@ class Imu : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/JointState.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/JointState.h
index 15a18007839..95e84f0d8c3 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/JointState.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/JointState.h
@@ -197,7 +197,7 @@ class JointState : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -232,7 +232,7 @@ class JointState : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(5);
@@ -276,7 +276,7 @@ class JointState : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/Joy.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/Joy.h
index 7ac043deec0..5275bbe3de0 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/Joy.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/Joy.h
@@ -123,7 +123,7 @@ class Joy : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -145,7 +145,7 @@ class Joy : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(3);
@@ -174,7 +174,7 @@ class Joy : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/JoyFeedback.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/JoyFeedback.h
index a6ae7d1bf83..35a64d25a84 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/JoyFeedback.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/JoyFeedback.h
@@ -116,7 +116,7 @@ class JoyFeedback : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** type ***
         connection.appendInt8(type);
@@ -130,7 +130,7 @@ class JoyFeedback : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(6);
@@ -152,7 +152,7 @@ class JoyFeedback : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/JoyFeedbackArray.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/JoyFeedbackArray.h
index e91dc4cb73e..977d41af754 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/JoyFeedbackArray.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/JoyFeedbackArray.h
@@ -87,7 +87,7 @@ class JoyFeedbackArray : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** array ***
         connection.appendInt32(array.size());
@@ -100,7 +100,7 @@ class JoyFeedbackArray : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(1);
@@ -119,7 +119,7 @@ class JoyFeedbackArray : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/LaserEcho.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/LaserEcho.h
index 8d33835335f..6cde445b58a 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/LaserEcho.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/LaserEcho.h
@@ -85,7 +85,7 @@ class LaserEcho : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** echoes ***
         connection.appendInt32(echoes.size());
@@ -96,7 +96,7 @@ class LaserEcho : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(1);
@@ -113,7 +113,7 @@ class LaserEcho : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/LaserScan.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/LaserScan.h
index 4e3ffc0c07c..f2f9ca821dd 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/LaserScan.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/LaserScan.h
@@ -225,7 +225,7 @@ class LaserScan : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -268,7 +268,7 @@ class LaserScan : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(10);
@@ -325,7 +325,7 @@ class LaserScan : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/MagneticField.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/MagneticField.h
index 92b43d97783..e5c8e2652c1 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/MagneticField.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/MagneticField.h
@@ -136,7 +136,7 @@ class MagneticField : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -156,7 +156,7 @@ class MagneticField : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(3);
@@ -183,7 +183,7 @@ class MagneticField : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/MultiDOFJointState.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/MultiDOFJointState.h
index 2266604a12e..e0bc369b6ee 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/MultiDOFJointState.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/MultiDOFJointState.h
@@ -212,7 +212,7 @@ class MultiDOFJointState : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -253,7 +253,7 @@ class MultiDOFJointState : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(5);
@@ -303,7 +303,7 @@ class MultiDOFJointState : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/MultiEchoLaserScan.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/MultiEchoLaserScan.h
index a9d0e3461ed..ac17c4afecd 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/MultiEchoLaserScan.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/MultiEchoLaserScan.h
@@ -235,7 +235,7 @@ class MultiEchoLaserScan : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -282,7 +282,7 @@ class MultiEchoLaserScan : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(10);
@@ -343,7 +343,7 @@ class MultiEchoLaserScan : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/NavSatFix.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/NavSatFix.h
index e0cf45adc62..13410724b2b 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/NavSatFix.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/NavSatFix.h
@@ -217,7 +217,7 @@ class NavSatFix : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -249,7 +249,7 @@ class NavSatFix : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(11);
@@ -292,7 +292,7 @@ class NavSatFix : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/NavSatStatus.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/NavSatStatus.h
index 311cef24fbd..85cfb6bae6f 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/NavSatStatus.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/NavSatStatus.h
@@ -127,7 +127,7 @@ class NavSatStatus : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** status ***
         connection.appendInt8(status);
@@ -138,7 +138,7 @@ class NavSatStatus : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(10);
@@ -156,7 +156,7 @@ class NavSatStatus : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/PointCloud.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/PointCloud.h
index 50bc37536d0..5bd85b89dce 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/PointCloud.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/PointCloud.h
@@ -143,7 +143,7 @@ class PointCloud : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -169,7 +169,7 @@ class PointCloud : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(3);
@@ -202,7 +202,7 @@ class PointCloud : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/PointCloud2.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/PointCloud2.h
index a6bc622f664..770f00918c0 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/PointCloud2.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/PointCloud2.h
@@ -221,7 +221,7 @@ class PointCloud2 : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -263,7 +263,7 @@ class PointCloud2 : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(9);
@@ -318,7 +318,7 @@ class PointCloud2 : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/PointField.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/PointField.h
index 5d44fca39a5..9d38118432a 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/PointField.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/PointField.h
@@ -148,7 +148,7 @@ class PointField : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** name ***
         connection.appendInt32(name.length());
@@ -166,7 +166,7 @@ class PointField : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(12);
@@ -193,7 +193,7 @@ class PointField : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/Range.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/Range.h
index cb3968e0d12..e957de60b86 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/Range.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/Range.h
@@ -175,7 +175,7 @@ class Range : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -200,7 +200,7 @@ class Range : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(8);
@@ -235,7 +235,7 @@ class Range : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/RegionOfInterest.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/RegionOfInterest.h
index 0bc2eea7e63..6911861437d 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/RegionOfInterest.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/RegionOfInterest.h
@@ -135,7 +135,7 @@ class RegionOfInterest : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** x_offset ***
         connection.appendInt32(x_offset);
@@ -155,7 +155,7 @@ class RegionOfInterest : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(5);
@@ -185,7 +185,7 @@ class RegionOfInterest : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/RelativeHumidity.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/RelativeHumidity.h
index 66b4785caf4..803a208e798 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/RelativeHumidity.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/RelativeHumidity.h
@@ -108,7 +108,7 @@ class RelativeHumidity : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -124,7 +124,7 @@ class RelativeHumidity : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(3);
@@ -147,7 +147,7 @@ class RelativeHumidity : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/SetCameraInfo.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/SetCameraInfo.h
index 951d338c7aa..4b232f4ff43 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/SetCameraInfo.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/SetCameraInfo.h
@@ -87,7 +87,7 @@ class SetCameraInfo : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** camera_info ***
         if (!camera_info.write(connection)) {
@@ -97,7 +97,7 @@ class SetCameraInfo : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(1);
@@ -112,7 +112,7 @@ class SetCameraInfo : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/SetCameraInfoReply.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/SetCameraInfoReply.h
index 03f9169686d..6accdb4b04c 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/SetCameraInfoReply.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/SetCameraInfoReply.h
@@ -89,7 +89,7 @@ class SetCameraInfoReply : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** success ***
         connection.appendBlock((char*)&success, 1);
@@ -101,7 +101,7 @@ class SetCameraInfoReply : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -120,7 +120,7 @@ class SetCameraInfoReply : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/Temperature.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/Temperature.h
index 11d37465af2..404dc327567 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/Temperature.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/Temperature.h
@@ -104,7 +104,7 @@ class Temperature : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -120,7 +120,7 @@ class Temperature : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(3);
@@ -143,7 +143,7 @@ class Temperature : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/TimeReference.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/TimeReference.h
index 753dec21401..1021bac4789 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/TimeReference.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/sensor_msgs/TimeReference.h
@@ -115,7 +115,7 @@ class TimeReference : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -134,7 +134,7 @@ class TimeReference : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(3);
@@ -159,7 +159,7 @@ class TimeReference : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/shape_msgs/Mesh.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/shape_msgs/Mesh.h
index 6034d6e6350..dcd052971b9 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/shape_msgs/Mesh.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/shape_msgs/Mesh.h
@@ -120,7 +120,7 @@ class Mesh : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** triangles ***
         connection.appendInt32(triangles.size());
@@ -141,7 +141,7 @@ class Mesh : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -169,7 +169,7 @@ class Mesh : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/shape_msgs/MeshTriangle.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/shape_msgs/MeshTriangle.h
index 2ff85be8016..47507e00641 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/shape_msgs/MeshTriangle.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/shape_msgs/MeshTriangle.h
@@ -85,7 +85,7 @@ class MeshTriangle : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** vertex_indices ***
         if (vertex_indices.size()>0) {
@@ -95,7 +95,7 @@ class MeshTriangle : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(1);
@@ -112,7 +112,7 @@ class MeshTriangle : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/shape_msgs/Plane.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/shape_msgs/Plane.h
index 95c597a4cbb..820ee01de03 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/shape_msgs/Plane.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/shape_msgs/Plane.h
@@ -91,7 +91,7 @@ class Plane : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** coef ***
         if (coef.size()>0) {
@@ -101,7 +101,7 @@ class Plane : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(1);
@@ -118,7 +118,7 @@ class Plane : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/shape_msgs/SolidPrimitive.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/shape_msgs/SolidPrimitive.h
index af00e9de0ff..b1660d9ea6a 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/shape_msgs/SolidPrimitive.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/shape_msgs/SolidPrimitive.h
@@ -170,7 +170,7 @@ class SolidPrimitive : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** type ***
         connection.appendInt8(type);
@@ -184,7 +184,7 @@ class SolidPrimitive : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(14);
@@ -205,7 +205,7 @@ class SolidPrimitive : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Bool.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Bool.h
index 466cb9e8334..cc8add6abd0 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Bool.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Bool.h
@@ -73,7 +73,7 @@ class Bool : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** data ***
         connection.appendBlock((char*)&data, 1);
@@ -81,7 +81,7 @@ class Bool : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(1);
@@ -95,7 +95,7 @@ class Bool : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Byte.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Byte.h
index 1cb6a7995ee..39bd339c215 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Byte.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Byte.h
@@ -71,7 +71,7 @@ class Byte : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** data ***
         connection.appendInt8(data);
@@ -79,7 +79,7 @@ class Byte : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(1);
@@ -93,7 +93,7 @@ class Byte : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/ByteMultiArray.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/ByteMultiArray.h
index 3d9261b4620..ac7c6f42069 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/ByteMultiArray.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/ByteMultiArray.h
@@ -103,7 +103,7 @@ class ByteMultiArray : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** layout ***
         if (!layout.write(connection)) {
@@ -119,7 +119,7 @@ class ByteMultiArray : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -141,7 +141,7 @@ class ByteMultiArray : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Char.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Char.h
index 99515ca1ed6..58f2e9def0b 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Char.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Char.h
@@ -70,7 +70,7 @@ class Char : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** data ***
         connection.appendInt8(data);
@@ -78,7 +78,7 @@ class Char : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(1);
@@ -92,7 +92,7 @@ class Char : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/ColorRGBA.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/ColorRGBA.h
index 04000b180f1..23a86b69d3e 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/ColorRGBA.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/ColorRGBA.h
@@ -107,7 +107,7 @@ class ColorRGBA : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** r ***
         connection.appendFloat32(r);
@@ -124,7 +124,7 @@ class ColorRGBA : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(4);
@@ -150,7 +150,7 @@ class ColorRGBA : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Duration.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Duration.h
index 93e519733d9..1f67df44140 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Duration.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Duration.h
@@ -76,7 +76,7 @@ class Duration : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** data ***
         if (!data.write(connection)) {
@@ -86,7 +86,7 @@ class Duration : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(1);
@@ -101,7 +101,7 @@ class Duration : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Empty.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Empty.h
index 113c2f23019..8c267296db3 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Empty.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Empty.h
@@ -62,13 +62,13 @@ class Empty : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
 
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(0);
@@ -79,7 +79,7 @@ class Empty : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Float32.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Float32.h
index 523071dfb60..626696056be 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Float32.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Float32.h
@@ -70,7 +70,7 @@ class Float32 : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** data ***
         connection.appendFloat32(data);
@@ -78,7 +78,7 @@ class Float32 : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(1);
@@ -92,7 +92,7 @@ class Float32 : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Float32MultiArray.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Float32MultiArray.h
index 5eabeff8778..1d88a2bd0a5 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Float32MultiArray.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Float32MultiArray.h
@@ -103,7 +103,7 @@ class Float32MultiArray : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** layout ***
         if (!layout.write(connection)) {
@@ -119,7 +119,7 @@ class Float32MultiArray : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -141,7 +141,7 @@ class Float32MultiArray : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Float64.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Float64.h
index 6201b3b6064..6ab1103a84c 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Float64.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Float64.h
@@ -70,7 +70,7 @@ class Float64 : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** data ***
         connection.appendFloat64(data);
@@ -78,7 +78,7 @@ class Float64 : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(1);
@@ -92,7 +92,7 @@ class Float64 : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Float64MultiArray.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Float64MultiArray.h
index bc228cd5af4..4c8d4d5c0e6 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Float64MultiArray.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Float64MultiArray.h
@@ -103,7 +103,7 @@ class Float64MultiArray : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** layout ***
         if (!layout.write(connection)) {
@@ -119,7 +119,7 @@ class Float64MultiArray : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -141,7 +141,7 @@ class Float64MultiArray : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Header.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Header.h
index 6ea7e24a298..202caf5ebd4 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Header.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Header.h
@@ -118,7 +118,7 @@ class Header : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** seq ***
         connection.appendInt32(seq);
@@ -135,7 +135,7 @@ class Header : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(3);
@@ -159,7 +159,7 @@ class Header : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Int16.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Int16.h
index f58964a95a4..541fc4430a4 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Int16.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Int16.h
@@ -71,7 +71,7 @@ class Int16 : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** data ***
         connection.appendInt16(data);
@@ -79,7 +79,7 @@ class Int16 : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(1);
@@ -93,7 +93,7 @@ class Int16 : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Int16MultiArray.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Int16MultiArray.h
index fe0c63a895b..accec65992b 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Int16MultiArray.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Int16MultiArray.h
@@ -103,7 +103,7 @@ class Int16MultiArray : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** layout ***
         if (!layout.write(connection)) {
@@ -119,7 +119,7 @@ class Int16MultiArray : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -141,7 +141,7 @@ class Int16MultiArray : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Int32.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Int32.h
index 30102003f55..af9abe0ce71 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Int32.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Int32.h
@@ -70,7 +70,7 @@ class Int32 : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** data ***
         connection.appendInt32(data);
@@ -78,7 +78,7 @@ class Int32 : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(1);
@@ -92,7 +92,7 @@ class Int32 : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Int32MultiArray.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Int32MultiArray.h
index deef9ea9e87..bd08278bf69 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Int32MultiArray.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Int32MultiArray.h
@@ -103,7 +103,7 @@ class Int32MultiArray : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** layout ***
         if (!layout.write(connection)) {
@@ -119,7 +119,7 @@ class Int32MultiArray : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -141,7 +141,7 @@ class Int32MultiArray : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Int64.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Int64.h
index e2ce72a412b..c3e667e8b0e 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Int64.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Int64.h
@@ -70,7 +70,7 @@ class Int64 : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** data ***
         connection.appendInt64(data);
@@ -78,7 +78,7 @@ class Int64 : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(1);
@@ -92,7 +92,7 @@ class Int64 : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Int64MultiArray.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Int64MultiArray.h
index 1b0262e6780..fbaa6fcc60d 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Int64MultiArray.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Int64MultiArray.h
@@ -103,7 +103,7 @@ class Int64MultiArray : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** layout ***
         if (!layout.write(connection)) {
@@ -119,7 +119,7 @@ class Int64MultiArray : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -141,7 +141,7 @@ class Int64MultiArray : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Int8.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Int8.h
index 21991cc2ea3..b7685aee66f 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Int8.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Int8.h
@@ -71,7 +71,7 @@ class Int8 : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** data ***
         connection.appendInt8(data);
@@ -79,7 +79,7 @@ class Int8 : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(1);
@@ -93,7 +93,7 @@ class Int8 : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Int8MultiArray.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Int8MultiArray.h
index 0b968fe636e..e29adfd9866 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Int8MultiArray.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Int8MultiArray.h
@@ -103,7 +103,7 @@ class Int8MultiArray : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** layout ***
         if (!layout.write(connection)) {
@@ -119,7 +119,7 @@ class Int8MultiArray : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -141,7 +141,7 @@ class Int8MultiArray : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/MultiArrayDimension.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/MultiArrayDimension.h
index 4fb1625bc73..ca8636ce2c4 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/MultiArrayDimension.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/MultiArrayDimension.h
@@ -100,7 +100,7 @@ class MultiArrayDimension : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** label ***
         connection.appendInt32(label.length());
@@ -115,7 +115,7 @@ class MultiArrayDimension : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(3);
@@ -138,7 +138,7 @@ class MultiArrayDimension : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/MultiArrayLayout.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/MultiArrayLayout.h
index ee233f01a40..d34a294bc76 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/MultiArrayLayout.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/MultiArrayLayout.h
@@ -123,7 +123,7 @@ class MultiArrayLayout : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** dim ***
         connection.appendInt32(dim.size());
@@ -139,7 +139,7 @@ class MultiArrayLayout : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -162,7 +162,7 @@ class MultiArrayLayout : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/String.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/String.h
index 6398b549fa6..fedd0563b37 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/String.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/String.h
@@ -77,7 +77,7 @@ class String : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** data ***
         connection.appendInt32(data.length());
@@ -86,7 +86,7 @@ class String : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(1);
@@ -101,7 +101,7 @@ class String : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Time.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Time.h
index a7370a59ea4..6dfbb661e9b 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Time.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/Time.h
@@ -76,7 +76,7 @@ class Time : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** data ***
         if (!data.write(connection)) {
@@ -86,7 +86,7 @@ class Time : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(1);
@@ -101,7 +101,7 @@ class Time : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/UInt16.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/UInt16.h
index 1eebf3cfe57..91dbc331c4b 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/UInt16.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/UInt16.h
@@ -71,7 +71,7 @@ class UInt16 : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** data ***
         connection.appendInt16(data);
@@ -79,7 +79,7 @@ class UInt16 : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(1);
@@ -93,7 +93,7 @@ class UInt16 : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/UInt16MultiArray.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/UInt16MultiArray.h
index 83e582ebe2e..d7f816adcc1 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/UInt16MultiArray.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/UInt16MultiArray.h
@@ -103,7 +103,7 @@ class UInt16MultiArray : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** layout ***
         if (!layout.write(connection)) {
@@ -119,7 +119,7 @@ class UInt16MultiArray : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -141,7 +141,7 @@ class UInt16MultiArray : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/UInt32.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/UInt32.h
index 03dd0992c9a..9af71a21c14 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/UInt32.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/UInt32.h
@@ -70,7 +70,7 @@ class UInt32 : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** data ***
         connection.appendInt32(data);
@@ -78,7 +78,7 @@ class UInt32 : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(1);
@@ -92,7 +92,7 @@ class UInt32 : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/UInt32MultiArray.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/UInt32MultiArray.h
index c9122c49c79..23d296382c3 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/UInt32MultiArray.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/UInt32MultiArray.h
@@ -103,7 +103,7 @@ class UInt32MultiArray : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** layout ***
         if (!layout.write(connection)) {
@@ -119,7 +119,7 @@ class UInt32MultiArray : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -141,7 +141,7 @@ class UInt32MultiArray : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/UInt64.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/UInt64.h
index 8053344d640..0791c8c6da8 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/UInt64.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/UInt64.h
@@ -70,7 +70,7 @@ class UInt64 : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** data ***
         connection.appendInt64(data);
@@ -78,7 +78,7 @@ class UInt64 : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(1);
@@ -92,7 +92,7 @@ class UInt64 : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/UInt64MultiArray.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/UInt64MultiArray.h
index d88d696a933..b75b4d31d20 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/UInt64MultiArray.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/UInt64MultiArray.h
@@ -103,7 +103,7 @@ class UInt64MultiArray : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** layout ***
         if (!layout.write(connection)) {
@@ -119,7 +119,7 @@ class UInt64MultiArray : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -141,7 +141,7 @@ class UInt64MultiArray : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/UInt8.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/UInt8.h
index 66d27ffb425..b11f909d6f3 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/UInt8.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/UInt8.h
@@ -71,7 +71,7 @@ class UInt8 : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** data ***
         connection.appendInt8(data);
@@ -79,7 +79,7 @@ class UInt8 : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(1);
@@ -93,7 +93,7 @@ class UInt8 : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/UInt8MultiArray.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/UInt8MultiArray.h
index 45a8b93a5fc..2610ddd33aa 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/UInt8MultiArray.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/std_msgs/UInt8MultiArray.h
@@ -103,7 +103,7 @@ class UInt8MultiArray : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** layout ***
         if (!layout.write(connection)) {
@@ -119,7 +119,7 @@ class UInt8MultiArray : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(2);
@@ -141,7 +141,7 @@ class UInt8MultiArray : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/stereo_msgs/DisparityImage.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/stereo_msgs/DisparityImage.h
index 859657f9bc5..a26241c9f30 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/stereo_msgs/DisparityImage.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/stereo_msgs/DisparityImage.h
@@ -191,7 +191,7 @@ class DisparityImage : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -226,7 +226,7 @@ class DisparityImage : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(8);
@@ -271,7 +271,7 @@ class DisparityImage : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/tf/FrameGraph.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/tf/FrameGraph.h
index 6adab62197a..ad9df707e39 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/tf/FrameGraph.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/tf/FrameGraph.h
@@ -64,13 +64,13 @@ class FrameGraph : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
 
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(0);
@@ -81,7 +81,7 @@ class FrameGraph : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/tf/FrameGraphReply.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/tf/FrameGraphReply.h
index 25575a28cdc..16e9c969107 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/tf/FrameGraphReply.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/tf/FrameGraphReply.h
@@ -76,7 +76,7 @@ class FrameGraphReply : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** dot_graph ***
         connection.appendInt32(dot_graph.length());
@@ -85,7 +85,7 @@ class FrameGraphReply : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(1);
@@ -100,7 +100,7 @@ class FrameGraphReply : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/tf/tfMessage.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/tf/tfMessage.h
index 2fe6288f6c8..d38c378790f 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/tf/tfMessage.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/tf/tfMessage.h
@@ -87,7 +87,7 @@ class tfMessage : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** transforms ***
         connection.appendInt32(transforms.size());
@@ -100,7 +100,7 @@ class tfMessage : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(1);
@@ -119,7 +119,7 @@ class tfMessage : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/tf2_msgs/FrameGraph.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/tf2_msgs/FrameGraph.h
index e7f5b6a37b6..b4d0ad49a9d 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/tf2_msgs/FrameGraph.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/tf2_msgs/FrameGraph.h
@@ -64,13 +64,13 @@ class FrameGraph : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
 
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(0);
@@ -81,7 +81,7 @@ class FrameGraph : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/tf2_msgs/FrameGraphReply.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/tf2_msgs/FrameGraphReply.h
index 6a2cdf38a7a..292eda141d3 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/tf2_msgs/FrameGraphReply.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/tf2_msgs/FrameGraphReply.h
@@ -76,7 +76,7 @@ class FrameGraphReply : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** frame_yaml ***
         connection.appendInt32(frame_yaml.length());
@@ -85,7 +85,7 @@ class FrameGraphReply : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(1);
@@ -100,7 +100,7 @@ class FrameGraphReply : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/tf2_msgs/TF2Error.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/tf2_msgs/TF2Error.h
index dbfa39f1c2e..a8f33cd13a7 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/tf2_msgs/TF2Error.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/tf2_msgs/TF2Error.h
@@ -118,7 +118,7 @@ class TF2Error : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** error ***
         connection.appendInt8(error);
@@ -130,7 +130,7 @@ class TF2Error : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(9);
@@ -149,7 +149,7 @@ class TF2Error : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/tf2_msgs/TFMessage.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/tf2_msgs/TFMessage.h
index 74f83c1043f..bb32bd1a92e 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/tf2_msgs/TFMessage.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/tf2_msgs/TFMessage.h
@@ -87,7 +87,7 @@ class TFMessage : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** transforms ***
         connection.appendInt32(transforms.size());
@@ -100,7 +100,7 @@ class TFMessage : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(1);
@@ -119,7 +119,7 @@ class TFMessage : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/trajectory_msgs/JointTrajectory.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/trajectory_msgs/JointTrajectory.h
index 9bf20279f24..942515c2a2d 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/trajectory_msgs/JointTrajectory.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/trajectory_msgs/JointTrajectory.h
@@ -134,7 +134,7 @@ class JointTrajectory : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -159,7 +159,7 @@ class JointTrajectory : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(3);
@@ -191,7 +191,7 @@ class JointTrajectory : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/trajectory_msgs/JointTrajectoryPoint.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/trajectory_msgs/JointTrajectoryPoint.h
index 99953aa610d..b21a77acaf1 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/trajectory_msgs/JointTrajectoryPoint.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/trajectory_msgs/JointTrajectoryPoint.h
@@ -172,7 +172,7 @@ class JointTrajectoryPoint : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** positions ***
         connection.appendInt32(positions.size());
@@ -206,7 +206,7 @@ class JointTrajectoryPoint : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(5);
@@ -249,7 +249,7 @@ class JointTrajectoryPoint : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/trajectory_msgs/MultiDOFJointTrajectory.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/trajectory_msgs/MultiDOFJointTrajectory.h
index 01bf8479e88..37097df1236 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/trajectory_msgs/MultiDOFJointTrajectory.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/trajectory_msgs/MultiDOFJointTrajectory.h
@@ -142,7 +142,7 @@ class MultiDOFJointTrajectory : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -167,7 +167,7 @@ class MultiDOFJointTrajectory : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(3);
@@ -199,7 +199,7 @@ class MultiDOFJointTrajectory : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/trajectory_msgs/MultiDOFJointTrajectoryPoint.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/trajectory_msgs/MultiDOFJointTrajectoryPoint.h
index 5435a9489bb..fde84ef2c32 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/trajectory_msgs/MultiDOFJointTrajectoryPoint.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/trajectory_msgs/MultiDOFJointTrajectoryPoint.h
@@ -165,7 +165,7 @@ class MultiDOFJointTrajectoryPoint : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** transforms ***
         connection.appendInt32(transforms.size());
@@ -199,7 +199,7 @@ class MultiDOFJointTrajectoryPoint : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(4);
@@ -241,7 +241,7 @@ class MultiDOFJointTrajectoryPoint : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/visualization_msgs/ImageMarker.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/visualization_msgs/ImageMarker.h
index c9da67f725b..96aa2df6a37 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/visualization_msgs/ImageMarker.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/visualization_msgs/ImageMarker.h
@@ -306,7 +306,7 @@ class ImageMarker : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -371,7 +371,7 @@ class ImageMarker : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(20);
@@ -449,7 +449,7 @@ class ImageMarker : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/visualization_msgs/InteractiveMarker.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/visualization_msgs/InteractiveMarker.h
index 611d5a41755..22cb72c462f 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/visualization_msgs/InteractiveMarker.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/visualization_msgs/InteractiveMarker.h
@@ -216,7 +216,7 @@ class InteractiveMarker : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -258,7 +258,7 @@ class InteractiveMarker : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(7);
@@ -310,7 +310,7 @@ class InteractiveMarker : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/visualization_msgs/InteractiveMarkerControl.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/visualization_msgs/InteractiveMarkerControl.h
index 8781b885e06..7a98f95a38b 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/visualization_msgs/InteractiveMarkerControl.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/visualization_msgs/InteractiveMarkerControl.h
@@ -300,7 +300,7 @@ class InteractiveMarkerControl : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** name ***
         connection.appendInt32(name.length());
@@ -338,7 +338,7 @@ class InteractiveMarkerControl : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(21);
@@ -388,7 +388,7 @@ class InteractiveMarkerControl : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/visualization_msgs/InteractiveMarkerFeedback.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/visualization_msgs/InteractiveMarkerFeedback.h
index 80991959616..b1ea5e08f97 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/visualization_msgs/InteractiveMarkerFeedback.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/visualization_msgs/InteractiveMarkerFeedback.h
@@ -253,7 +253,7 @@ class InteractiveMarkerFeedback : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -294,7 +294,7 @@ class InteractiveMarkerFeedback : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(15);
@@ -346,7 +346,7 @@ class InteractiveMarkerFeedback : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/visualization_msgs/InteractiveMarkerInit.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/visualization_msgs/InteractiveMarkerInit.h
index 56979cede00..0961a7e14ef 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/visualization_msgs/InteractiveMarkerInit.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/visualization_msgs/InteractiveMarkerInit.h
@@ -128,7 +128,7 @@ class InteractiveMarkerInit : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** server_id ***
         connection.appendInt32(server_id.length());
@@ -148,7 +148,7 @@ class InteractiveMarkerInit : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(3);
@@ -176,7 +176,7 @@ class InteractiveMarkerInit : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/visualization_msgs/InteractiveMarkerPose.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/visualization_msgs/InteractiveMarkerPose.h
index b56bff3222f..1247427002b 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/visualization_msgs/InteractiveMarkerPose.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/visualization_msgs/InteractiveMarkerPose.h
@@ -117,7 +117,7 @@ class InteractiveMarkerPose : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -136,7 +136,7 @@ class InteractiveMarkerPose : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(3);
@@ -161,7 +161,7 @@ class InteractiveMarkerPose : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/visualization_msgs/InteractiveMarkerUpdate.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/visualization_msgs/InteractiveMarkerUpdate.h
index e4b3069a588..062a17e3a79 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/visualization_msgs/InteractiveMarkerUpdate.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/visualization_msgs/InteractiveMarkerUpdate.h
@@ -219,7 +219,7 @@ class InteractiveMarkerUpdate : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** server_id ***
         connection.appendInt32(server_id.length());
@@ -257,7 +257,7 @@ class InteractiveMarkerUpdate : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(8);
@@ -306,7 +306,7 @@ class InteractiveMarkerUpdate : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/visualization_msgs/Marker.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/visualization_msgs/Marker.h
index cf9537524ed..d47d8bf187e 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/visualization_msgs/Marker.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/visualization_msgs/Marker.h
@@ -394,7 +394,7 @@ class Marker : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** header ***
         if (!header.write(connection)) {
@@ -467,7 +467,7 @@ class Marker : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(31);
@@ -555,7 +555,7 @@ class Marker : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/visualization_msgs/MarkerArray.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/visualization_msgs/MarkerArray.h
index 3e047ccc6b5..e43fbb8c93e 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/visualization_msgs/MarkerArray.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/visualization_msgs/MarkerArray.h
@@ -87,7 +87,7 @@ class MarkerArray : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** markers ***
         connection.appendInt32(markers.size());
@@ -100,7 +100,7 @@ class MarkerArray : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(1);
@@ -119,7 +119,7 @@ class MarkerArray : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/visualization_msgs/MenuEntry.h b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/visualization_msgs/MenuEntry.h
index 42fcceb1812..e2f4da8895a 100644
--- a/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/visualization_msgs/MenuEntry.h
+++ b/src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/visualization_msgs/MenuEntry.h
@@ -189,7 +189,7 @@ class MenuEntry : public yarp::os::idl::WirePortable
                                         : readBottle(connection));
     }
 
-    bool writeBare(yarp::os::ConnectionWriter& connection) override
+    bool writeBare(yarp::os::ConnectionWriter& connection) const override
     {
         // *** id ***
         connection.appendInt32(id);
@@ -211,7 +211,7 @@ class MenuEntry : public yarp::os::idl::WirePortable
         return !connection.isError();
     }
 
-    bool writeBottle(yarp::os::ConnectionWriter& connection) override
+    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
     {
         connection.appendInt32(BOTTLE_TAG_LIST);
         connection.appendInt32(8);
@@ -243,7 +243,7 @@ class MenuEntry : public yarp::os::idl::WirePortable
     }
 
     using yarp::os::idl::WirePortable::write;
-    bool write(yarp::os::ConnectionWriter& connection) override
+    bool write(yarp::os::ConnectionWriter& connection) const override
     {
         return (connection.isBareMode() ? writeBare(connection)
                                         : writeBottle(connection));
diff --git a/src/libYARP_serversql/include/yarp/serversql/impl/Triple.h b/src/libYARP_serversql/include/yarp/serversql/impl/Triple.h
index a51f79e30ad..363660da3f0 100644
--- a/src/libYARP_serversql/include/yarp/serversql/impl/Triple.h
+++ b/src/libYARP_serversql/include/yarp/serversql/impl/Triple.h
@@ -96,7 +96,7 @@ class Triple {
         return value.c_str();
     }
 
-    std::string toString() {
+    std::string toString() const {
         std::string r = "";
         if (hasName) {
             r = name;
diff --git a/src/libYARP_sig/include/yarp/sig/Image.h b/src/libYARP_sig/include/yarp/sig/Image.h
index 4adb47aaf09..c92bdd28cf2 100644
--- a/src/libYARP_sig/include/yarp/sig/Image.h
+++ b/src/libYARP_sig/include/yarp/sig/Image.h
@@ -309,7 +309,7 @@ class YARP_sig_API yarp::sig::Image : public yarp::os::Portable {
      * Write image to a connection.
      * @return true iff image was written correctly
      */
-    virtual bool write(yarp::os::ConnectionWriter& connection) override;
+    virtual bool write(yarp::os::ConnectionWriter& connection) const override;
 
     void setQuantum(size_t imgQuantum);
 
diff --git a/src/libYARP_sig/include/yarp/sig/Matrix.h b/src/libYARP_sig/include/yarp/sig/Matrix.h
index 2c335e4ff6f..d2fb541b66f 100644
--- a/src/libYARP_sig/include/yarp/sig/Matrix.h
+++ b/src/libYARP_sig/include/yarp/sig/Matrix.h
@@ -327,7 +327,7 @@ class YARP_sig_API yarp::sig::Matrix: public yarp::os::Portable
       * Write vector to a connection.
       * return true iff a vector was written correctly
       */
-      virtual bool write(yarp::os::ConnectionWriter& connection) override;
+      virtual bool write(yarp::os::ConnectionWriter& connection) const override;
 
 };
 
diff --git a/src/libYARP_sig/include/yarp/sig/PointCloud.h b/src/libYARP_sig/include/yarp/sig/PointCloud.h
index fcbb12e0779..88fb988c6b0 100644
--- a/src/libYARP_sig/include/yarp/sig/PointCloud.h
+++ b/src/libYARP_sig/include/yarp/sig/PointCloud.h
@@ -314,13 +314,13 @@ class PointCloud : public PointCloudBase
         return true;
     }
 
-    virtual bool write(yarp::os::ConnectionWriter& writer) override
+    virtual bool write(yarp::os::ConnectionWriter& writer) const override
     {
         writer.appendBlock((char*)&header, sizeof(PointCloudNetworkHeader));
         return data.write(writer);
     }
 
-    virtual std::string toString(int precision = -1, int width = -1)
+    virtual std::string toString(int precision = -1, int width = -1) const
     {
         std::string ret;
         if (isOrganized()) {
@@ -346,7 +346,7 @@ class PointCloud : public PointCloudBase
      * @brief Generate a yarp::os::Bottle filled with the PointCloud data.
      * @return the yarp::os::Bottle generated
      */
-    yarp::os::Bottle toBottle()
+    yarp::os::Bottle toBottle() const
     {
         yarp::os::Bottle ret;
         ret.addInt32(width());
diff --git a/src/libYARP_sig/include/yarp/sig/PointCloudBase.h b/src/libYARP_sig/include/yarp/sig/PointCloudBase.h
index 4fd04b0e04e..cf2994e4c43 100644
--- a/src/libYARP_sig/include/yarp/sig/PointCloudBase.h
+++ b/src/libYARP_sig/include/yarp/sig/PointCloudBase.h
@@ -58,7 +58,7 @@ class YARP_sig_API PointCloudBase : public yarp::os::Portable
 
     virtual bool read(yarp::os::ConnectionReader& connection) override = 0;
 
-    virtual bool write(yarp::os::ConnectionWriter& writer) override = 0;
+    virtual bool write(yarp::os::ConnectionWriter& writer) const override = 0;
 
     virtual int getBottleTag() const = 0;
 
diff --git a/src/libYARP_sig/include/yarp/sig/PointCloudTypes.h b/src/libYARP_sig/include/yarp/sig/PointCloudTypes.h
index d6543749a28..7b9a243d74b 100644
--- a/src/libYARP_sig/include/yarp/sig/PointCloudTypes.h
+++ b/src/libYARP_sig/include/yarp/sig/PointCloudTypes.h
@@ -122,7 +122,7 @@ struct DataXY
             float y;
         };
     };
-    std::string toString(int precision, int width)
+    std::string toString(int precision, int width) const
     {
         std::string ret = "";
         char tmp[128];
@@ -138,7 +138,7 @@ struct DataXY
         }
         return ret;
     }
-    yarp::os::Bottle toBottle()
+    yarp::os::Bottle toBottle() const
     {
         yarp::os::Bottle ret;
         ret.addFloat64(x);
@@ -169,7 +169,7 @@ struct DataXYZ
             float z;
         };
     };
-    std::string toString(int precision, int width)
+    std::string toString(int precision, int width) const
     {
         std::string ret = "";
         char tmp[128];
@@ -187,7 +187,7 @@ struct DataXYZ
         }
         return ret;
     }
-    yarp::os::Bottle toBottle()
+    yarp::os::Bottle toBottle() const
     {
         yarp::os::Bottle ret;
         ret.addFloat64(x);
@@ -227,7 +227,7 @@ struct DataRGBA
         yarp::os::NetInt32 rgba;
 //        float data_c[4];
     };
-    std::string toString(int precision, int width)
+    std::string toString(int precision, int width) const
     {
         YARP_UNUSED(precision);
         YARP_UNUSED(width);
@@ -237,7 +237,7 @@ struct DataRGBA
         ret += tmp;
         return ret;
     }
-    yarp::os::Bottle toBottle()
+    yarp::os::Bottle toBottle() const
     {
         yarp::os::Bottle ret;
         ret.addInt32(r);
@@ -281,7 +281,7 @@ struct DataNormal
         };
         float data_c[4];
     };
-    std::string toString(int precision, int width)
+    std::string toString(int precision, int width) const
     {
         std::string ret = "";
         char tmp[128];
@@ -301,7 +301,7 @@ struct DataNormal
         }
         return ret;
     }
-    yarp::os::Bottle toBottle()
+    yarp::os::Bottle toBottle() const
     {
         yarp::os::Bottle ret;
         ret.addFloat64(normal_x);
@@ -341,7 +341,7 @@ struct DataNormalNoCurvature
             float normal_z;
         };
     };
-    std::string toString(int precision, int width)
+    std::string toString(int precision, int width) const
     {
         std::string ret = "";
         char tmp[128];
@@ -359,7 +359,7 @@ struct DataNormalNoCurvature
         }
         return ret;
     }
-    yarp::os::Bottle toBottle()
+    yarp::os::Bottle toBottle() const
     {
         yarp::os::Bottle ret;
         ret.addFloat64(normal_x);
@@ -413,7 +413,7 @@ struct DataViewpoint
             float vp_z;
         };
     };
-    std::string toString(int precision, int width)
+    std::string toString(int precision, int width) const
     {
         std::string ret = "";
         char tmp[128];
@@ -431,7 +431,7 @@ struct DataViewpoint
         }
         return ret;
     }
-    yarp::os::Bottle toBottle()
+    yarp::os::Bottle toBottle() const
     {
         yarp::os::Bottle ret;
         ret.addFloat64(vp_x);
@@ -490,7 +490,7 @@ struct DataXYZRGBA
         yarp::os::NetInt32 rgba;
         float rgba_padding[4];
     };
-    std::string toString(int precision, int width)
+    std::string toString(int precision, int width) const
     {
         std::string ret = "";
         char tmp[128];
@@ -510,7 +510,7 @@ struct DataXYZRGBA
         ret += tmp;
         return ret;
     }
-    yarp::os::Bottle toBottle()
+    yarp::os::Bottle toBottle() const
     {
         yarp::os::Bottle ret;
         ret.addFloat64(x);
@@ -565,7 +565,7 @@ struct DataXYZI
         };
         float intensity_padding[4];
     };
-    std::string toString(int precision, int width)
+    std::string toString(int precision, int width) const
     {
         std::string ret = "";
         char tmp[128];
@@ -585,7 +585,7 @@ struct DataXYZI
         }
         return ret;
     }
-    yarp::os::Bottle toBottle()
+    yarp::os::Bottle toBottle() const
     {
         yarp::os::Bottle ret;
         ret.addFloat64(x);
@@ -634,7 +634,7 @@ struct DataInterestPointXYZ
         };
         float strength_padding[4];
     };
-    std::string toString(int precision, int width)
+    std::string toString(int precision, int width) const
     {
         std::string ret = "";
         char tmp[128];
@@ -654,7 +654,7 @@ struct DataInterestPointXYZ
         }
         return ret;
     }
-    yarp::os::Bottle toBottle()
+    yarp::os::Bottle toBottle() const
     {
         yarp::os::Bottle ret;
         ret.addFloat64(x);
@@ -714,7 +714,7 @@ struct DataXYZNormal
         };
         float filler_c[4];
     };
-    std::string toString(int precision, int width)
+    std::string toString(int precision, int width) const
     {
         std::string ret = "";
         char tmp[128];
@@ -742,7 +742,7 @@ struct DataXYZNormal
         }
         return ret;
     }
-    yarp::os::Bottle toBottle()
+    yarp::os::Bottle toBottle() const
     {
         yarp::os::Bottle ret;
         ret.addFloat64(x);
@@ -820,7 +820,7 @@ struct DataXYZNormalRGBA
         };
         float filler_others[4];
     };
-    std::string toString(int precision, int width)
+    std::string toString(int precision, int width) const
     {
         std::string ret = "";
         char tmp[128];
@@ -850,7 +850,7 @@ struct DataXYZNormalRGBA
         ret += tmp;
         return ret;
     }
-    yarp::os::Bottle toBottle()
+    yarp::os::Bottle toBottle() const
     {
         yarp::os::Bottle ret;
         ret.addFloat64(x);
diff --git a/src/libYARP_sig/include/yarp/sig/Sound.h b/src/libYARP_sig/include/yarp/sig/Sound.h
index e3e8804cf7a..8e39a9377cd 100644
--- a/src/libYARP_sig/include/yarp/sig/Sound.h
+++ b/src/libYARP_sig/include/yarp/sig/Sound.h
@@ -104,7 +104,7 @@ class YARP_sig_API yarp::sig::Sound : public yarp::os::Portable {
 
     virtual bool read(yarp::os::ConnectionReader& connection) override;
 
-    virtual bool write(yarp::os::ConnectionWriter& connection) override;
+    virtual bool write(yarp::os::ConnectionWriter& connection) const override;
 
     unsigned char *getRawData() const;
 
diff --git a/src/libYARP_sig/include/yarp/sig/Vector.h b/src/libYARP_sig/include/yarp/sig/Vector.h
index 7fc42f57044..d74b457e99b 100644
--- a/src/libYARP_sig/include/yarp/sig/Vector.h
+++ b/src/libYARP_sig/include/yarp/sig/Vector.h
@@ -47,6 +47,7 @@ class YARP_sig_API yarp::sig::VectorBase : public yarp::os::Portable
 
     virtual size_t getListSize() const = 0;
     virtual const char *getMemoryBlock() const = 0;
+    virtual char *getMemoryBlock() = 0;
     virtual void resize(size_t size) = 0;
 
     /*
@@ -59,7 +60,7 @@ class YARP_sig_API yarp::sig::VectorBase : public yarp::os::Portable
     * Write vector to a connection.
     * return true iff a vector was written correctly
     */
-    virtual bool write(yarp::os::ConnectionWriter& connection) override;
+    virtual bool write(yarp::os::ConnectionWriter& connection) const override;
 };
 
 /*
@@ -154,9 +155,14 @@ class yarp::sig::VectorOf : public VectorBase
         return len;
     }
 
-    virtual const char *getMemoryBlock() const override
+    virtual const char* getMemoryBlock() const override
     {
-        return (char *) bytes.get();
+        return bytes.get();
+    }
+
+    virtual char* getMemoryBlock() override
+    {
+        return bytes.get();
     }
 
     inline const T *getFirst() const
@@ -468,7 +474,7 @@ class YARP_sig_API yarp::sig::Vector : public yarp::os::Portable
     * Write vector to a connection.
     * return true iff a vector was written correctly
     */
-    virtual bool write(yarp::os::ConnectionWriter& connection) override;
+    virtual bool write(yarp::os::ConnectionWriter& connection) const override;
 
     virtual yarp::os::Type getType() const override {
         return yarp::os::Type::byName("yarp/vector");
diff --git a/src/libYARP_sig/src/Image.cpp b/src/libYARP_sig/src/Image.cpp
index effa715f535..e50b443c25d 100644
--- a/src/libYARP_sig/src/Image.cpp
+++ b/src/libYARP_sig/src/Image.cpp
@@ -753,7 +753,7 @@ bool Image::read(yarp::os::ConnectionReader& connection) {
 }
 
 
-bool Image::write(yarp::os::ConnectionWriter& connection) {
+bool Image::write(yarp::os::ConnectionWriter& connection) const {
     ImageNetworkHeader header;
     header.setFromImage(*this);
     /*
diff --git a/src/libYARP_sig/src/Matrix.cpp b/src/libYARP_sig/src/Matrix.cpp
index 2b624606472..f60a72f6df8 100644
--- a/src/libYARP_sig/src/Matrix.cpp
+++ b/src/libYARP_sig/src/Matrix.cpp
@@ -140,7 +140,7 @@ bool Matrix::read(yarp::os::ConnectionReader& connection) {
 }
 
 
-bool Matrix::write(yarp::os::ConnectionWriter& connection) {
+bool Matrix::write(yarp::os::ConnectionWriter& connection) const {
     MatrixPortContentHeader header;
 
     //header.totalLen = sizeof(header)+sizeof(double)*this->size();
diff --git a/src/libYARP_sig/src/Sound.cpp b/src/libYARP_sig/src/Sound.cpp
index b619df590b0..588515eb9f4 100644
--- a/src/libYARP_sig/src/Sound.cpp
+++ b/src/libYARP_sig/src/Sound.cpp
@@ -202,7 +202,7 @@ bool Sound::read(ConnectionReader& connection) {
 }
 
 
-bool Sound::write(ConnectionWriter& connection) {
+bool Sound::write(ConnectionWriter& connection) const {
     // lousy format - fix soon!
     FlexImage& img = HELPER(implementation);
     Bottle bot;
diff --git a/src/libYARP_sig/src/Vector.cpp b/src/libYARP_sig/src/Vector.cpp
index 20859b78adf..0f3725ca8ad 100644
--- a/src/libYARP_sig/src/Vector.cpp
+++ b/src/libYARP_sig/src/Vector.cpp
@@ -52,7 +52,7 @@ bool VectorBase::read(yarp::os::ConnectionReader& connection) {
     {
         if ((size_t)getListSize() != (size_t)(header.listLen))
             resize(header.listLen);
-        const char *ptr = getMemoryBlock();
+        char* ptr = getMemoryBlock();
         yAssert(ptr != nullptr);
         int elemSize=getElementSize();
         ok = connection.expectBlock(ptr, elemSize*header.listLen);
@@ -64,7 +64,7 @@ bool VectorBase::read(yarp::os::ConnectionReader& connection) {
     return !connection.isError();
 }
 
-bool VectorBase::write(yarp::os::ConnectionWriter& connection) {
+bool VectorBase::write(yarp::os::ConnectionWriter& connection) const {
     VectorPortContentHeader header;
 
     //header.totalLen = sizeof(header)+sizeof(double)*this->size();
@@ -210,7 +210,7 @@ bool Vector::read(yarp::os::ConnectionReader& connection) {
     return !connection.isError();
 }
 
-bool Vector::write(yarp::os::ConnectionWriter& connection) {
+bool Vector::write(yarp::os::ConnectionWriter& connection) const {
     VectorPortContentHeader header;
 
     header.listTag = (BOTTLE_TAG_LIST | BOTTLE_TAG_FLOAT64);
diff --git a/src/libYARP_wire_rep_utils/WireBottle.h b/src/libYARP_wire_rep_utils/WireBottle.h
index 4fad38d6c7d..271274e365c 100644
--- a/src/libYARP_wire_rep_utils/WireBottle.h
+++ b/src/libYARP_wire_rep_utils/WireBottle.h
@@ -26,21 +26,21 @@ class SizedWriterTail : public yarp::os::SizedWriter {
         payload_offset = offset;
     }
 
-    virtual size_t length() override {
+    virtual size_t length() const override {
         return delegate->length()-payload_index;
     }
 
-    virtual size_t headerLength() override {
+    virtual size_t headerLength() const override {
         return 0; // not supported
     }
 
-    virtual size_t length(size_t index) override {
+    virtual size_t length(size_t index) const override {
         index += payload_index;
         if (index==payload_index) return delegate->length(index)-payload_offset;
         return delegate->length(index);
     }
 
-    virtual const char *data(size_t index) override {
+    virtual const char *data(size_t index) const override {
         index += payload_index;
         if (index==payload_index) return delegate->data(index)+payload_offset;
         return delegate->data(index);
@@ -57,10 +57,10 @@ class SizedWriterTail : public yarp::os::SizedWriter {
     virtual bool dropRequested() override { return false; }
 
 
-    virtual void startWrite() override {
+    virtual void startWrite() const override {
     }
 
-    virtual void stopWrite() override {
+    virtual void stopWrite() const override {
     }
 };
 
diff --git a/src/libYARP_wire_rep_utils/WireImage.h b/src/libYARP_wire_rep_utils/WireImage.h
index 83375dc8ec1..29361cd05ea 100644
--- a/src/libYARP_wire_rep_utils/WireImage.h
+++ b/src/libYARP_wire_rep_utils/WireImage.h
@@ -119,11 +119,11 @@ class RosWireImage : public yarp::os::SizedWriter {
         ros_seq_stamp.nsec = (int)((t-(int)t)*1e9);
     }
 
-    virtual size_t length() override { return 3; }
+    virtual size_t length() const override { return 3; }
 
-    virtual size_t headerLength() override { return 0; }
+    virtual size_t headerLength() const override { return 0; }
 
-    virtual size_t length(size_t index) override {
+    virtual size_t length(size_t index) const override {
         size_t result = 0;
         switch (index) {
         case 0:
@@ -142,7 +142,7 @@ class RosWireImage : public yarp::os::SizedWriter {
         return result;
     }
 
-    virtual const char *data(size_t index) override {
+    virtual const char *data(size_t index) const override {
         const char *result = 0 /*NULL*/;
         switch (index) {
         case 0:
@@ -164,9 +164,9 @@ class RosWireImage : public yarp::os::SizedWriter {
 
     virtual bool dropRequested() override { return false; }
 
-    virtual void startWrite() override {}
+    virtual void startWrite() const override {}
 
-    virtual void stopWrite() override {}
+    virtual void stopWrite() const override {}
 };
 
 class YARP_wire_rep_utils_API WireImage {
diff --git a/src/libYARP_wire_rep_utils/WireTwiddler.cpp b/src/libYARP_wire_rep_utils/WireTwiddler.cpp
index e77623e9f7b..b852d9f32e7 100644
--- a/src/libYARP_wire_rep_utils/WireTwiddler.cpp
+++ b/src/libYARP_wire_rep_utils/WireTwiddler.cpp
@@ -505,7 +505,7 @@ void WireTwiddlerReader::compute(const WireTwiddlerGap& gap) {
     }
 }
 
-yarp::conf::ssize_t WireTwiddlerReader::read(const Bytes& b) {
+yarp::conf::ssize_t WireTwiddlerReader::read(Bytes& b) {
     dbg_printf("Want %zu bytes\n", b.length());
     if (index==-1) {
         dbg_printf("WireTwidderReader::read getting started\n");
@@ -552,8 +552,8 @@ yarp::conf::ssize_t WireTwiddlerReader::read(const Bytes& b) {
         }
         if ((gap.length==-1||gap.unit_length==-1) && override_length==-1) {
             dbg_printf("LOOKING TO EXTERNAL\n");
-            int r = is.readFull(Bytes((char*)&lengthBuffer,
-                                      sizeof(NetInt32)));
+            Bytes bytes(reinterpret_cast<char*>(&lengthBuffer), sizeof(NetInt32));
+            int r = is.readFull(bytes);
             if (r!=sizeof(NetInt32)) return -1;
             dbg_printf("Read length %d\n", lengthBuffer);
             pending_length = sizeof(lengthBuffer);
@@ -593,8 +593,8 @@ yarp::conf::ssize_t WireTwiddlerReader::read(const Bytes& b) {
             dbg_printf("### %d pending strings\n", pending_strings);
             if (pending_string_length==0&&pending_string_data==0) {
                 dbg_printf("Checking string length\n");
-                int r = is.readFull(Bytes((char*)&lengthBuffer,
-                                          sizeof(NetInt32)));
+                Bytes bytes(reinterpret_cast<char*>(&lengthBuffer), sizeof(NetInt32));
+                int r = is.readFull(bytes);
                 if (r!=sizeof(NetInt32)) return -1;
                 dbg_printf("Read length %d\n", lengthBuffer);
                 pending_string_length = sizeof(lengthBuffer);
@@ -986,8 +986,8 @@ bool WireTwiddlerWriter::transform(const WireTwiddlerGap& gap) {
 }
 
 yarp::conf::ssize_t WireTwiddlerReader::readMapped(yarp::os::InputStream& is,
-                                            const yarp::os::Bytes& b,
-                                            const WireTwiddlerGap& gap) {
+                                                   yarp::os::Bytes& b,
+                                                   const WireTwiddlerGap& gap) {
     if (gap.load_external) {
         int v = 0;
         if (gap.var_name[0]=='=') {
diff --git a/src/libYARP_wire_rep_utils/WireTwiddler.h b/src/libYARP_wire_rep_utils/WireTwiddler.h
index c7250f4e765..68b32681db7 100644
--- a/src/libYARP_wire_rep_utils/WireTwiddler.h
+++ b/src/libYARP_wire_rep_utils/WireTwiddler.h
@@ -174,15 +174,15 @@ class YARP_wire_rep_utils_API WireTwiddlerReader : public yarp::os::InputStream
     virtual ~WireTwiddlerReader() {}
 
     using yarp::os::InputStream::read;
-    virtual yarp::conf::ssize_t read(const yarp::os::Bytes& b) override;
+    virtual yarp::conf::ssize_t read(yarp::os::Bytes& b) override;
 
     virtual void close() override { is.close(); }
 
-    virtual bool isOk() override { return is.isOk(); }
+    virtual bool isOk() const override { return is.isOk(); }
 
     yarp::conf::ssize_t readMapped(yarp::os::InputStream& is,
-                            const yarp::os::Bytes& b,
-                            const WireTwiddlerGap& gap);
+                                   yarp::os::Bytes& b,
+                                   const WireTwiddlerGap& gap);
 
     void compute(const WireTwiddlerGap& gap);
 };
@@ -294,19 +294,19 @@ class YARP_wire_rep_utils_API WireTwiddlerWriter : public yarp::os::SizedWriter
 
     bool update();
 
-    virtual size_t length() override {
+    virtual size_t length() const override {
         return srcs.size();
     }
 
-    virtual size_t headerLength() override {
+    virtual size_t headerLength() const override {
         return 0;
     }
 
-    virtual size_t length(size_t index) override {
+    virtual size_t length(size_t index) const override {
         return srcs[index].len;
     }
 
-    virtual const char *data(size_t index) override {
+    virtual const char *data(size_t index) const override {
         if (srcs[index].offset<0) return srcs[index].src;
         return scratch.get()+srcs[index].offset;
     }
@@ -341,11 +341,11 @@ class YARP_wire_rep_utils_API WireTwiddlerWriter : public yarp::os::SizedWriter
         return false;
     }
 
-    virtual void startWrite() override {
+    virtual void startWrite() const override {
         parent->startWrite();
     }
 
-    virtual void stopWrite() override {
+    virtual void stopWrite() const override {
         parent->stopWrite();
     }
 };
diff --git a/src/yarpdataplayer/idl_generated_code/src/yarpdataplayer_IDL.cpp b/src/yarpdataplayer/idl_generated_code/src/yarpdataplayer_IDL.cpp
index 9722e9ea5ce..cb681b8f349 100644
--- a/src/yarpdataplayer/idl_generated_code/src/yarpdataplayer_IDL.cpp
+++ b/src/yarpdataplayer/idl_generated_code/src/yarpdataplayer_IDL.cpp
@@ -18,7 +18,7 @@ class yarpdataplayer_IDL_step : public yarp::os::Portable {
 public:
   bool _return;
   void init();
-  virtual bool write(yarp::os::ConnectionWriter& connection) override;
+  virtual bool write(yarp::os::ConnectionWriter& connection) const override;
   virtual bool read(yarp::os::ConnectionReader& connection) override;
 };
 
@@ -28,7 +28,7 @@ class yarpdataplayer_IDL_setFrame : public yarp::os::Portable {
   std::int32_t frameNum;
   bool _return;
   void init(const std::string& name, const std::int32_t frameNum);
-  virtual bool write(yarp::os::ConnectionWriter& connection) override;
+  virtual bool write(yarp::os::ConnectionWriter& connection) const override;
   virtual bool read(yarp::os::ConnectionReader& connection) override;
 };
 
@@ -37,7 +37,7 @@ class yarpdataplayer_IDL_getFrame : public yarp::os::Portable {
   std::string name;
   std::int32_t _return;
   void init(const std::string& name);
-  virtual bool write(yarp::os::ConnectionWriter& connection) override;
+  virtual bool write(yarp::os::ConnectionWriter& connection) const override;
   virtual bool read(yarp::os::ConnectionReader& connection) override;
 };
 
@@ -46,7 +46,7 @@ class yarpdataplayer_IDL_load : public yarp::os::Portable {
   std::string path;
   bool _return;
   void init(const std::string& path);
-  virtual bool write(yarp::os::ConnectionWriter& connection) override;
+  virtual bool write(yarp::os::ConnectionWriter& connection) const override;
   virtual bool read(yarp::os::ConnectionReader& connection) override;
 };
 
@@ -54,7 +54,7 @@ class yarpdataplayer_IDL_play : public yarp::os::Portable {
 public:
   bool _return;
   void init();
-  virtual bool write(yarp::os::ConnectionWriter& connection) override;
+  virtual bool write(yarp::os::ConnectionWriter& connection) const override;
   virtual bool read(yarp::os::ConnectionReader& connection) override;
 };
 
@@ -62,7 +62,7 @@ class yarpdataplayer_IDL_pause : public yarp::os::Portable {
 public:
   bool _return;
   void init();
-  virtual bool write(yarp::os::ConnectionWriter& connection) override;
+  virtual bool write(yarp::os::ConnectionWriter& connection) const override;
   virtual bool read(yarp::os::ConnectionReader& connection) override;
 };
 
@@ -70,7 +70,7 @@ class yarpdataplayer_IDL_stop : public yarp::os::Portable {
 public:
   bool _return;
   void init();
-  virtual bool write(yarp::os::ConnectionWriter& connection) override;
+  virtual bool write(yarp::os::ConnectionWriter& connection) const override;
   virtual bool read(yarp::os::ConnectionReader& connection) override;
 };
 
@@ -78,11 +78,11 @@ class yarpdataplayer_IDL_quit : public yarp::os::Portable {
 public:
   bool _return;
   void init();
-  virtual bool write(yarp::os::ConnectionWriter& connection) override;
+  virtual bool write(yarp::os::ConnectionWriter& connection) const override;
   virtual bool read(yarp::os::ConnectionReader& connection) override;
 };
 
-bool yarpdataplayer_IDL_step::write(yarp::os::ConnectionWriter& connection) {
+bool yarpdataplayer_IDL_step::write(yarp::os::ConnectionWriter& connection) const {
   yarp::os::idl::WireWriter writer(connection);
   if (!writer.writeListHeader(1)) return false;
   if (!writer.writeTag("step",1,1)) return false;
@@ -103,7 +103,7 @@ void yarpdataplayer_IDL_step::init() {
   _return = false;
 }
 
-bool yarpdataplayer_IDL_setFrame::write(yarp::os::ConnectionWriter& connection) {
+bool yarpdataplayer_IDL_setFrame::write(yarp::os::ConnectionWriter& connection) const {
   yarp::os::idl::WireWriter writer(connection);
   if (!writer.writeListHeader(3)) return false;
   if (!writer.writeTag("setFrame",1,1)) return false;
@@ -128,7 +128,7 @@ void yarpdataplayer_IDL_setFrame::init(const std::string& name, const std::int32
   this->frameNum = frameNum;
 }
 
-bool yarpdataplayer_IDL_getFrame::write(yarp::os::ConnectionWriter& connection) {
+bool yarpdataplayer_IDL_getFrame::write(yarp::os::ConnectionWriter& connection) const {
   yarp::os::idl::WireWriter writer(connection);
   if (!writer.writeListHeader(2)) return false;
   if (!writer.writeTag("getFrame",1,1)) return false;
@@ -151,7 +151,7 @@ void yarpdataplayer_IDL_getFrame::init(const std::string& name) {
   this->name = name;
 }
 
-bool yarpdataplayer_IDL_load::write(yarp::os::ConnectionWriter& connection) {
+bool yarpdataplayer_IDL_load::write(yarp::os::ConnectionWriter& connection) const {
   yarp::os::idl::WireWriter writer(connection);
   if (!writer.writeListHeader(2)) return false;
   if (!writer.writeTag("load",1,1)) return false;
@@ -174,7 +174,7 @@ void yarpdataplayer_IDL_load::init(const std::string& path) {
   this->path = path;
 }
 
-bool yarpdataplayer_IDL_play::write(yarp::os::ConnectionWriter& connection) {
+bool yarpdataplayer_IDL_play::write(yarp::os::ConnectionWriter& connection) const {
   yarp::os::idl::WireWriter writer(connection);
   if (!writer.writeListHeader(1)) return false;
   if (!writer.writeTag("play",1,1)) return false;
@@ -195,7 +195,7 @@ void yarpdataplayer_IDL_play::init() {
   _return = false;
 }
 
-bool yarpdataplayer_IDL_pause::write(yarp::os::ConnectionWriter& connection) {
+bool yarpdataplayer_IDL_pause::write(yarp::os::ConnectionWriter& connection) const {
   yarp::os::idl::WireWriter writer(connection);
   if (!writer.writeListHeader(1)) return false;
   if (!writer.writeTag("pause",1,1)) return false;
@@ -216,7 +216,7 @@ void yarpdataplayer_IDL_pause::init() {
   _return = false;
 }
 
-bool yarpdataplayer_IDL_stop::write(yarp::os::ConnectionWriter& connection) {
+bool yarpdataplayer_IDL_stop::write(yarp::os::ConnectionWriter& connection) const {
   yarp::os::idl::WireWriter writer(connection);
   if (!writer.writeListHeader(1)) return false;
   if (!writer.writeTag("stop",1,1)) return false;
@@ -237,7 +237,7 @@ void yarpdataplayer_IDL_stop::init() {
   _return = false;
 }
 
-bool yarpdataplayer_IDL_quit::write(yarp::os::ConnectionWriter& connection) {
+bool yarpdataplayer_IDL_quit::write(yarp::os::ConnectionWriter& connection) const {
   yarp::os::idl::WireWriter writer(connection);
   if (!writer.writeListHeader(1)) return false;
   if (!writer.writeTag("quit",1,1)) return false;
diff --git a/src/yarprobotinterface/idl_generated_code/src/yarprobotinterfaceRpc.cpp b/src/yarprobotinterface/idl_generated_code/src/yarprobotinterfaceRpc.cpp
index 9cd54031d7e..9e6fa9c2c64 100644
--- a/src/yarprobotinterface/idl_generated_code/src/yarprobotinterfaceRpc.cpp
+++ b/src/yarprobotinterface/idl_generated_code/src/yarprobotinterfaceRpc.cpp
@@ -18,7 +18,7 @@ class yarprobotinterfaceRpc_get_phase : public yarp::os::Portable {
 public:
   std::string _return;
   void init();
-  virtual bool write(yarp::os::ConnectionWriter& connection) override;
+  virtual bool write(yarp::os::ConnectionWriter& connection) const override;
   virtual bool read(yarp::os::ConnectionReader& connection) override;
 };
 
@@ -26,7 +26,7 @@ class yarprobotinterfaceRpc_get_level : public yarp::os::Portable {
 public:
   std::int32_t _return;
   void init();
-  virtual bool write(yarp::os::ConnectionWriter& connection) override;
+  virtual bool write(yarp::os::ConnectionWriter& connection) const override;
   virtual bool read(yarp::os::ConnectionReader& connection) override;
 };
 
@@ -34,7 +34,7 @@ class yarprobotinterfaceRpc_get_robot : public yarp::os::Portable {
 public:
   std::string _return;
   void init();
-  virtual bool write(yarp::os::ConnectionWriter& connection) override;
+  virtual bool write(yarp::os::ConnectionWriter& connection) const override;
   virtual bool read(yarp::os::ConnectionReader& connection) override;
 };
 
@@ -42,7 +42,7 @@ class yarprobotinterfaceRpc_is_ready : public yarp::os::Portable {
 public:
   bool _return;
   void init();
-  virtual bool write(yarp::os::ConnectionWriter& connection) override;
+  virtual bool write(yarp::os::ConnectionWriter& connection) const override;
   virtual bool read(yarp::os::ConnectionReader& connection) override;
 };
 
@@ -50,7 +50,7 @@ class yarprobotinterfaceRpc_quit : public yarp::os::Portable {
 public:
   std::string _return;
   void init();
-  virtual bool write(yarp::os::ConnectionWriter& connection) override;
+  virtual bool write(yarp::os::ConnectionWriter& connection) const override;
   virtual bool read(yarp::os::ConnectionReader& connection) override;
 };
 
@@ -58,7 +58,7 @@ class yarprobotinterfaceRpc_bye : public yarp::os::Portable {
 public:
   std::string _return;
   void init();
-  virtual bool write(yarp::os::ConnectionWriter& connection) override;
+  virtual bool write(yarp::os::ConnectionWriter& connection) const override;
   virtual bool read(yarp::os::ConnectionReader& connection) override;
 };
 
@@ -66,11 +66,11 @@ class yarprobotinterfaceRpc_exit : public yarp::os::Portable {
 public:
   std::string _return;
   void init();
-  virtual bool write(yarp::os::ConnectionWriter& connection) override;
+  virtual bool write(yarp::os::ConnectionWriter& connection) const override;
   virtual bool read(yarp::os::ConnectionReader& connection) override;
 };
 
-bool yarprobotinterfaceRpc_get_phase::write(yarp::os::ConnectionWriter& connection) {
+bool yarprobotinterfaceRpc_get_phase::write(yarp::os::ConnectionWriter& connection) const {
   yarp::os::idl::WireWriter writer(connection);
   if (!writer.writeListHeader(2)) return false;
   if (!writer.writeTag("get_phase",1,2)) return false;
@@ -91,7 +91,7 @@ void yarprobotinterfaceRpc_get_phase::init() {
   _return = "";
 }
 
-bool yarprobotinterfaceRpc_get_level::write(yarp::os::ConnectionWriter& connection) {
+bool yarprobotinterfaceRpc_get_level::write(yarp::os::ConnectionWriter& connection) const {
   yarp::os::idl::WireWriter writer(connection);
   if (!writer.writeListHeader(2)) return false;
   if (!writer.writeTag("get_level",1,2)) return false;
@@ -112,7 +112,7 @@ void yarprobotinterfaceRpc_get_level::init() {
   _return = 0;
 }
 
-bool yarprobotinterfaceRpc_get_robot::write(yarp::os::ConnectionWriter& connection) {
+bool yarprobotinterfaceRpc_get_robot::write(yarp::os::ConnectionWriter& connection) const {
   yarp::os::idl::WireWriter writer(connection);
   if (!writer.writeListHeader(2)) return false;
   if (!writer.writeTag("get_robot",1,2)) return false;
@@ -133,7 +133,7 @@ void yarprobotinterfaceRpc_get_robot::init() {
   _return = "";
 }
 
-bool yarprobotinterfaceRpc_is_ready::write(yarp::os::ConnectionWriter& connection) {
+bool yarprobotinterfaceRpc_is_ready::write(yarp::os::ConnectionWriter& connection) const {
   yarp::os::idl::WireWriter writer(connection);
   if (!writer.writeListHeader(2)) return false;
   if (!writer.writeTag("is_ready",1,2)) return false;
@@ -154,7 +154,7 @@ void yarprobotinterfaceRpc_is_ready::init() {
   _return = false;
 }
 
-bool yarprobotinterfaceRpc_quit::write(yarp::os::ConnectionWriter& connection) {
+bool yarprobotinterfaceRpc_quit::write(yarp::os::ConnectionWriter& connection) const {
   yarp::os::idl::WireWriter writer(connection);
   if (!writer.writeListHeader(1)) return false;
   if (!writer.writeTag("quit",1,1)) return false;
@@ -175,7 +175,7 @@ void yarprobotinterfaceRpc_quit::init() {
   _return = "";
 }
 
-bool yarprobotinterfaceRpc_bye::write(yarp::os::ConnectionWriter& connection) {
+bool yarprobotinterfaceRpc_bye::write(yarp::os::ConnectionWriter& connection) const {
   yarp::os::idl::WireWriter writer(connection);
   if (!writer.writeListHeader(1)) return false;
   if (!writer.writeTag("bye",1,1)) return false;
@@ -196,7 +196,7 @@ void yarprobotinterfaceRpc_bye::init() {
   _return = "";
 }
 
-bool yarprobotinterfaceRpc_exit::write(yarp::os::ConnectionWriter& connection) {
+bool yarprobotinterfaceRpc_exit::write(yarp::os::ConnectionWriter& connection) const {
   yarp::os::idl::WireWriter writer(connection);
   if (!writer.writeListHeader(1)) return false;
   if (!writer.writeTag("exit",1,1)) return false;
diff --git a/tests/libYARP_OS/BinPortableTest.cpp b/tests/libYARP_OS/BinPortableTest.cpp
index bce39268390..000b31a578c 100644
--- a/tests/libYARP_OS/BinPortableTest.cpp
+++ b/tests/libYARP_OS/BinPortableTest.cpp
@@ -42,7 +42,7 @@ YARP_END_PACK
 
 class BinPortableTest : public UnitTest {
 public:
-    virtual std::string getName() override { return "BinPortableTest"; }
+    virtual std::string getName() const override { return "BinPortableTest"; }
 
     void testInt() {
         report(0,"checking binary read/write of native int");
diff --git a/tests/libYARP_OS/BottleTest.cpp b/tests/libYARP_OS/BottleTest.cpp
index e72ff2120fa..0314b58d42e 100644
--- a/tests/libYARP_OS/BottleTest.cpp
+++ b/tests/libYARP_OS/BottleTest.cpp
@@ -826,7 +826,7 @@ class BottleTest : public UnitTest {
         testCopyPortable();
     }
 
-    virtual std::string getName() override {
+    virtual std::string getName() const override {
         return "BottleTest";
     }
 };
diff --git a/tests/libYARP_OS/BufferedConnectionWriterTest.cpp b/tests/libYARP_OS/BufferedConnectionWriterTest.cpp
index bda342e0578..d4f224ca76f 100644
--- a/tests/libYARP_OS/BufferedConnectionWriterTest.cpp
+++ b/tests/libYARP_OS/BufferedConnectionWriterTest.cpp
@@ -25,7 +25,7 @@ typedef PortablePair<PortablePair<PortablePair<Bottle, ImageOf<PixelRgb> >,
 
 class BufferedConnectionWriterTest : public UnitTest {
 public:
-    virtual std::string getName() override { return "BufferedConnectionWriterTest"; }
+    virtual std::string getName() const override { return "BufferedConnectionWriterTest"; }
 
     void testWrite() {
         report(0,"testing writing...");
diff --git a/tests/libYARP_OS/ContactTest.cpp b/tests/libYARP_OS/ContactTest.cpp
index 4af8d4ec6e3..c855977903a 100644
--- a/tests/libYARP_OS/ContactTest.cpp
+++ b/tests/libYARP_OS/ContactTest.cpp
@@ -16,7 +16,7 @@ using namespace yarp::os;
 class ContactTest : public UnitTest
 {
 public:
-    virtual std::string getName() override
+    virtual std::string getName() const override
     {
         return "ContactTest";
     }
diff --git a/tests/libYARP_OS/DgramTwoWayStreamTest.cpp b/tests/libYARP_OS/DgramTwoWayStreamTest.cpp
index e1ab9b4860c..6b1db866a76 100644
--- a/tests/libYARP_OS/DgramTwoWayStreamTest.cpp
+++ b/tests/libYARP_OS/DgramTwoWayStreamTest.cpp
@@ -116,7 +116,7 @@ class DgramTest : public DgramTwoWayStream {
 
 class DgramTwoWayStreamTest : public UnitTest {
 public:
-    virtual std::string getName() override { return "DgramTwoWayStreamTest"; }
+    virtual std::string getName() const override { return "DgramTwoWayStreamTest"; }
 
     void checkNormal() {
         report(0, "checking that dgrams are output sensibly");
diff --git a/tests/libYARP_OS/ElectionTest.cpp b/tests/libYARP_OS/ElectionTest.cpp
index 7a69145280e..14a0f510739 100644
--- a/tests/libYARP_OS/ElectionTest.cpp
+++ b/tests/libYARP_OS/ElectionTest.cpp
@@ -16,7 +16,7 @@ using namespace yarp::os::impl;
 
 class ElectionTest : public UnitTest {
 public:
-    virtual std::string getName() override { return "ElectionTest"; }
+    virtual std::string getName() const override { return "ElectionTest"; }
 
     void testBasics() {
         report(0,"testing the basics of elections");
diff --git a/tests/libYARP_OS/EventTest.cpp b/tests/libYARP_OS/EventTest.cpp
index 2cb9b53c4dc..0afb63a2ae4 100644
--- a/tests/libYARP_OS/EventTest.cpp
+++ b/tests/libYARP_OS/EventTest.cpp
@@ -60,7 +60,7 @@ class EventTestHelper2 : public Thread {
 
 class EventTest : public UnitTest {
 public:
-    virtual std::string getName() override { return "EventTest"; }
+    virtual std::string getName() const override { return "EventTest"; }
 
     void checkBasic() {
         report(0, "basic event sanity check...");
diff --git a/tests/libYARP_OS/LogStreamTest.cpp b/tests/libYARP_OS/LogStreamTest.cpp
index d4d536bdb8f..1ac0e87ab5c 100644
--- a/tests/libYARP_OS/LogStreamTest.cpp
+++ b/tests/libYARP_OS/LogStreamTest.cpp
@@ -14,7 +14,7 @@
 
 class LogStreamTest : public yarp::os::impl::UnitTest {
 public:
-    virtual std::string getName() override { return "LogStreamTest"; }
+    virtual std::string getName() const override { return "LogStreamTest"; }
 
     void checkLogStream() {
         int i = 13;
diff --git a/tests/libYARP_OS/LogTest.cpp b/tests/libYARP_OS/LogTest.cpp
index 72ec9948201..520584598ef 100644
--- a/tests/libYARP_OS/LogTest.cpp
+++ b/tests/libYARP_OS/LogTest.cpp
@@ -13,7 +13,7 @@
 
 class LogTest : public yarp::os::impl::UnitTest {
 public:
-    virtual std::string getName() override { return "LogTest"; }
+    virtual std::string getName() const override { return "LogTest"; }
 
     void checkLog() {
         int i = 13;
diff --git a/tests/libYARP_OS/MessageStackTest.cpp b/tests/libYARP_OS/MessageStackTest.cpp
index fe8954ddbee..2e97d695bd6 100644
--- a/tests/libYARP_OS/MessageStackTest.cpp
+++ b/tests/libYARP_OS/MessageStackTest.cpp
@@ -68,7 +68,7 @@ class MessageStackTest : public UnitTest {
         checkBasic();
     }
 
-    virtual std::string getName() override {
+    virtual std::string getName() const override {
         return "MessageStackTest";
     }
 };
diff --git a/tests/libYARP_OS/NameConfigTest.cpp b/tests/libYARP_OS/NameConfigTest.cpp
index eb9bd7b5660..b7244d18f78 100644
--- a/tests/libYARP_OS/NameConfigTest.cpp
+++ b/tests/libYARP_OS/NameConfigTest.cpp
@@ -17,7 +17,7 @@ using namespace yarp::os::impl;
 
 class NameConfigTest : public UnitTest {
 public:
-    virtual std::string getName() override { return "NameConfigTest"; }
+    virtual std::string getName() const override { return "NameConfigTest"; }
 
     void testRead() {
         report(0,"no tests yet");
diff --git a/tests/libYARP_OS/NameServerTest.cpp b/tests/libYARP_OS/NameServerTest.cpp
index ead02fa2527..bcce1ce85c7 100644
--- a/tests/libYARP_OS/NameServerTest.cpp
+++ b/tests/libYARP_OS/NameServerTest.cpp
@@ -23,7 +23,7 @@ class NameServerTest : public UnitTest {
         return Network::getDefaultPortRange()+100;
     }
 
-    virtual std::string getName() override { return "NameServerTest"; }
+    virtual std::string getName() const override { return "NameServerTest"; }
 
     void checkRegister() {
         report(0,"checking register...");
diff --git a/tests/libYARP_OS/NetTypeTest.cpp b/tests/libYARP_OS/NetTypeTest.cpp
index 5ffaecf9cfd..c0b2a9b9d55 100644
--- a/tests/libYARP_OS/NetTypeTest.cpp
+++ b/tests/libYARP_OS/NetTypeTest.cpp
@@ -22,7 +22,7 @@ using namespace yarp::os;
 
 class NetTypeTest : public UnitTest {
 public:
-    virtual std::string getName() override { return "NetTypeTest"; }
+    virtual std::string getName() const override { return "NetTypeTest"; }
 
     void checkCrc() {
         report(0,"checking cyclic redundancy check is plausible");
diff --git a/tests/libYARP_OS/NetworkTest.cpp b/tests/libYARP_OS/NetworkTest.cpp
index f77aaea1f0a..baf7db71ebe 100644
--- a/tests/libYARP_OS/NetworkTest.cpp
+++ b/tests/libYARP_OS/NetworkTest.cpp
@@ -89,7 +89,7 @@ class SlowResponder : public Thread {
 
 class NetworkTest : public UnitTest {
 public:
-    virtual std::string getName() override { return "NetworkTest"; }
+    virtual std::string getName() const override { return "NetworkTest"; }
 
     void checkConnect() {
         report(0,"checking return value of connect method");
diff --git a/tests/libYARP_OS/NodeTest.cpp b/tests/libYARP_OS/NodeTest.cpp
index 53ad9a43b92..17aeb347fbc 100644
--- a/tests/libYARP_OS/NodeTest.cpp
+++ b/tests/libYARP_OS/NodeTest.cpp
@@ -36,7 +36,7 @@ class Subscriber : public BufferedPort<T> {
 
 class NodeTest : public UnitTest {
 public:
-    virtual std::string getName() override { return "NodeTest"; }
+    virtual std::string getName() const override { return "NodeTest"; }
 
     void parseNameTest();
     void basicNodeTest();
diff --git a/tests/libYARP_OS/PeriodicThreadTest.cpp b/tests/libYARP_OS/PeriodicThreadTest.cpp
index e7863fcb3fe..9c3985633f9 100644
--- a/tests/libYARP_OS/PeriodicThreadTest.cpp
+++ b/tests/libYARP_OS/PeriodicThreadTest.cpp
@@ -275,7 +275,7 @@ class PeriodicThreadTest : public UnitTest {
     };
 
 public:
-    virtual std::string getName() override { return "PeriodicThreadTest"; }
+    virtual std::string getName() const override { return "PeriodicThreadTest"; }
 
     double test(double period, double delay)
     {
diff --git a/tests/libYARP_OS/PortCommandTest.cpp b/tests/libYARP_OS/PortCommandTest.cpp
index be20cc220ca..2cf5a573fdd 100644
--- a/tests/libYARP_OS/PortCommandTest.cpp
+++ b/tests/libYARP_OS/PortCommandTest.cpp
@@ -19,7 +19,7 @@ using namespace yarp::os::impl;
 
 class PortCommandTest : public UnitTest {
 public:
-    virtual std::string getName() override { return "PortCommandTest"; }
+    virtual std::string getName() const override { return "PortCommandTest"; }
 
     void testTextWriting() {
         report(0,"testing text-mode writing...");
diff --git a/tests/libYARP_OS/PortCoreTest.cpp b/tests/libYARP_OS/PortCoreTest.cpp
index 5410a449439..e4232d87388 100644
--- a/tests/libYARP_OS/PortCoreTest.cpp
+++ b/tests/libYARP_OS/PortCoreTest.cpp
@@ -24,7 +24,7 @@ class PortCoreTest : public UnitTest, public PortReader {
 public:
     int safePort() { return Network::getDefaultPortRange()+100; }
 
-    virtual std::string getName() override { return "PortCoreTest"; }
+    virtual std::string getName() const override { return "PortCoreTest"; }
 
     std::string expectation;
     int receives;
diff --git a/tests/libYARP_OS/PortReaderBufferTest.cpp b/tests/libYARP_OS/PortReaderBufferTest.cpp
index 8140071a4a8..2868bb40343 100644
--- a/tests/libYARP_OS/PortReaderBufferTest.cpp
+++ b/tests/libYARP_OS/PortReaderBufferTest.cpp
@@ -36,7 +36,7 @@ class PortReaderBufferTestHelper : public BufferedPort<Bottle> {
 
 class PortReaderBufferTest : public UnitTest {
 public:
-    virtual std::string getName() override { return "PortReaderBufferTest"; }
+    virtual std::string getName() const override { return "PortReaderBufferTest"; }
 
 
     void checkAccept() {
diff --git a/tests/libYARP_OS/PortTest.cpp b/tests/libYARP_OS/PortTest.cpp
index 90b208fc27a..b48f13a3bd8 100644
--- a/tests/libYARP_OS/PortTest.cpp
+++ b/tests/libYARP_OS/PortTest.cpp
@@ -157,14 +157,14 @@ class ServiceTester : public Portable {
 public:
     UnitTest& owner;
     Bottle send, receive;
-    int ct;
+    mutable int ct;
 
     ServiceTester(UnitTest& owner) : owner(owner) {}
 
-    virtual bool write(ConnectionWriter& connection) override {
+    virtual bool write(ConnectionWriter& connection) const override {
         ct = 0;
         send.write(connection);
-        connection.setReplyHandler(*this);
+        connection.setReplyHandler(const_cast<ServiceTester&>(*this));
         return true;
     }
 
@@ -341,7 +341,7 @@ class PortTest : public UnitTest {
 public:
     int safePort() { return Network::getDefaultPortRange()+100; }
 
-    virtual std::string getName() override { return "PortTest"; }
+    virtual std::string getName() const override { return "PortTest"; }
 
     void testOpen() {
         report(0,"checking opening and closing ports");
diff --git a/tests/libYARP_OS/PortablePairTest.cpp b/tests/libYARP_OS/PortablePairTest.cpp
index 94b9ee736b4..edc6395ec04 100644
--- a/tests/libYARP_OS/PortablePairTest.cpp
+++ b/tests/libYARP_OS/PortablePairTest.cpp
@@ -21,7 +21,7 @@ using namespace yarp::os;
 
 class PortablePairTest : public UnitTest {
 public:
-    virtual std::string getName() override { return "PortablePairTest"; }
+    virtual std::string getName() const override { return "PortablePairTest"; }
     
     void checkStandard() {
         PortablePair<Bottle,Bottle> pp;
diff --git a/tests/libYARP_OS/PropertyTest.cpp b/tests/libYARP_OS/PropertyTest.cpp
index 4b88bfd0204..98069e06e8a 100644
--- a/tests/libYARP_OS/PropertyTest.cpp
+++ b/tests/libYARP_OS/PropertyTest.cpp
@@ -25,7 +25,7 @@ using namespace yarp::os;
 
 class PropertyTest : public UnitTest {
 public:
-    virtual std::string getName() override { return "PropertyTest"; }
+    virtual std::string getName() const override { return "PropertyTest"; }
 
     void checkPutGet() {
         report(0,"checking puts and gets");
diff --git a/tests/libYARP_OS/ProtocolTest.cpp b/tests/libYARP_OS/ProtocolTest.cpp
index 1a82eef9059..abe7e6bb4f8 100644
--- a/tests/libYARP_OS/ProtocolTest.cpp
+++ b/tests/libYARP_OS/ProtocolTest.cpp
@@ -18,7 +18,7 @@ using namespace yarp::os::impl;
 
 class ProtocolTest : public UnitTest {
 public:
-    virtual std::string getName() override { return "ProtocolTest"; }
+    virtual std::string getName() const override { return "ProtocolTest"; }
 
     std::string simplify(std::string x) {
         return humanize(x);
diff --git a/tests/libYARP_OS/PublisherTest.cpp b/tests/libYARP_OS/PublisherTest.cpp
index db90cecb2d0..22ed991df67 100644
--- a/tests/libYARP_OS/PublisherTest.cpp
+++ b/tests/libYARP_OS/PublisherTest.cpp
@@ -32,7 +32,7 @@ static bool waitForOutput(Contactable& c,double timeout) {
 
 class PublisherTest : public UnitTest {
 public:
-    virtual std::string getName() override { return "PublisherTest"; }
+    virtual std::string getName() const override { return "PublisherTest"; }
 
     void testPublisherToBufferedPort() {
         report(0,"Publisher to BufferedPort test");
diff --git a/tests/libYARP_OS/RFModuleTest.cpp b/tests/libYARP_OS/RFModuleTest.cpp
index a672562bc91..fbb1948afbd 100644
--- a/tests/libYARP_OS/RFModuleTest.cpp
+++ b/tests/libYARP_OS/RFModuleTest.cpp
@@ -51,7 +51,7 @@ class MyModule : public RFModule
 class RFModuleTest : public UnitTest
 {
 public:
-    virtual std::string getName() override { return "RFModuleTest"; }
+    virtual std::string getName() const override { return "RFModuleTest"; }
 
 
     void testPort()
diff --git a/tests/libYARP_OS/ResourceFinderTest.cpp b/tests/libYARP_OS/ResourceFinderTest.cpp
index f2d55278e28..428bc449acf 100644
--- a/tests/libYARP_OS/ResourceFinderTest.cpp
+++ b/tests/libYARP_OS/ResourceFinderTest.cpp
@@ -25,7 +25,7 @@ using namespace yarp::os::impl;
 
 class ResourceFinderTest : public UnitTest {
 public:
-    virtual std::string getName() override { return "ResourceFinderTest"; }
+    virtual std::string getName() const override { return "ResourceFinderTest"; }
 
     void testBasics() {
         report(0,"testing the basics of RF...");
diff --git a/tests/libYARP_OS/RouteTest.cpp b/tests/libYARP_OS/RouteTest.cpp
index 1eda4f3e890..af81a98aa97 100644
--- a/tests/libYARP_OS/RouteTest.cpp
+++ b/tests/libYARP_OS/RouteTest.cpp
@@ -16,7 +16,7 @@ using namespace yarp::os;
 class RouteTest : public UnitTest
 {
 public:
-    virtual std::string getName() override
+    virtual std::string getName() const override
     {
         return "RouteTest";
     }
diff --git a/tests/libYARP_OS/SemaphoreTest.cpp b/tests/libYARP_OS/SemaphoreTest.cpp
index 23ad0c1f154..62003832485 100644
--- a/tests/libYARP_OS/SemaphoreTest.cpp
+++ b/tests/libYARP_OS/SemaphoreTest.cpp
@@ -34,7 +34,7 @@ class SemaphoreTestHelper : public Thread {
 
 class SemaphoreTest : public UnitTest {
 public:
-    virtual std::string getName() override { return "SemaphoreTest"; }
+    virtual std::string getName() const override { return "SemaphoreTest"; }
 
     void checkBasic() {
         report(0, "basic semaphore sanity check...");
diff --git a/tests/libYARP_OS/StampTest.cpp b/tests/libYARP_OS/StampTest.cpp
index c658ed56eef..a115ab5005c 100644
--- a/tests/libYARP_OS/StampTest.cpp
+++ b/tests/libYARP_OS/StampTest.cpp
@@ -24,7 +24,7 @@ using namespace yarp::os;
 
 class StampTest : public UnitTest {
 public:
-    virtual std::string getName() override { return "StampTest"; }
+    virtual std::string getName() const override { return "StampTest"; }
 
     void checkFormat() {
         report(0, "checking Stamp can serialize ok...");
diff --git a/tests/libYARP_OS/StreamConnectionReaderTest.cpp b/tests/libYARP_OS/StreamConnectionReaderTest.cpp
index 66daffadbfc..1477cdc4350 100644
--- a/tests/libYARP_OS/StreamConnectionReaderTest.cpp
+++ b/tests/libYARP_OS/StreamConnectionReaderTest.cpp
@@ -18,7 +18,7 @@ using namespace yarp::os::impl;
 
 class StreamConnectionReaderTest : public UnitTest {
 public:
-    virtual std::string getName() override { return "StreamConnectionReaderTest"; }
+    virtual std::string getName() const override { return "StreamConnectionReaderTest"; }
 
     void testRead() {
         report(0,"testing reading...");
diff --git a/tests/libYARP_OS/StringInputStreamTest.cpp b/tests/libYARP_OS/StringInputStreamTest.cpp
index 2d44a19789c..f8bb9727dc4 100644
--- a/tests/libYARP_OS/StringInputStreamTest.cpp
+++ b/tests/libYARP_OS/StringInputStreamTest.cpp
@@ -17,7 +17,7 @@ using namespace yarp::os::impl;
 
 class StringInputStreamTest : public UnitTest {
 public:
-    virtual std::string getName() override { return "StringInputStreamTest"; }
+    virtual std::string getName() const override { return "StringInputStreamTest"; }
 
     void testRead() {
         report(0,"test reading...");
diff --git a/tests/libYARP_OS/StringOutputStreamTest.cpp b/tests/libYARP_OS/StringOutputStreamTest.cpp
index 1484623c66d..3dbafc403c2 100644
--- a/tests/libYARP_OS/StringOutputStreamTest.cpp
+++ b/tests/libYARP_OS/StringOutputStreamTest.cpp
@@ -20,7 +20,7 @@ using namespace yarp::os::impl;
 
 class StringOutputStreamTest : public UnitTest {
 public:
-    virtual std::string getName() override { return "StringOutputStreamTest"; }
+    virtual std::string getName() const override { return "StringOutputStreamTest"; }
 
     void testWrite() {
         report(0,"testing writing...");
diff --git a/tests/libYARP_OS/StringTest.cpp b/tests/libYARP_OS/StringTest.cpp
index 136520d8957..b637f8f3199 100644
--- a/tests/libYARP_OS/StringTest.cpp
+++ b/tests/libYARP_OS/StringTest.cpp
@@ -17,7 +17,7 @@ using namespace yarp::os::impl;
 
 class StringTest : public UnitTest {
 public:
-    virtual std::string getName() override {
+    virtual std::string getName() const override {
         return "StringTest";
     }
   
diff --git a/tests/libYARP_OS/SystemInfoTest.cpp b/tests/libYARP_OS/SystemInfoTest.cpp
index 3d94d545720..6ff3e27c69e 100644
--- a/tests/libYARP_OS/SystemInfoTest.cpp
+++ b/tests/libYARP_OS/SystemInfoTest.cpp
@@ -25,7 +25,7 @@ class SystemInfoTest : public UnitTest {
     }
 
 public:
-    virtual std::string getName() override {
+    virtual std::string getName() const override {
         return "SystemInfoTest";
     }
 
diff --git a/tests/libYARP_OS/TerminatorTest.cpp b/tests/libYARP_OS/TerminatorTest.cpp
index 8cfd6fcb4b3..f0fbc6e1e18 100644
--- a/tests/libYARP_OS/TerminatorTest.cpp
+++ b/tests/libYARP_OS/TerminatorTest.cpp
@@ -19,7 +19,7 @@ using namespace yarp::os;
 
 class TerminatorTest : public UnitTest {
 public:
-    virtual std::string getName() override { return "TerminatorTest"; }
+    virtual std::string getName() const override { return "TerminatorTest"; }
 
     virtual void testTerminationPair() {
         report(0,"checking terminator connection");
diff --git a/tests/libYARP_OS/ThreadTest.cpp b/tests/libYARP_OS/ThreadTest.cpp
index 1fe4525cd3c..ccdd551001e 100644
--- a/tests/libYARP_OS/ThreadTest.cpp
+++ b/tests/libYARP_OS/ThreadTest.cpp
@@ -285,7 +285,7 @@ class ThreadTest : public UnitTest {
         gotCount = 0;
     }
 
-    virtual std::string getName() override { return "ThreadTest"; }
+    virtual std::string getName() const override { return "ThreadTest"; }
 
     void testIsRunning()
     {
diff --git a/tests/libYARP_OS/TimeTest.cpp b/tests/libYARP_OS/TimeTest.cpp
index 224a07b0c31..624ea9b8431 100644
--- a/tests/libYARP_OS/TimeTest.cpp
+++ b/tests/libYARP_OS/TimeTest.cpp
@@ -19,7 +19,7 @@ using namespace yarp::os::impl;
 
 class TimeTest : public UnitTest {
 public:
-    virtual std::string getName() override { return "TimeTest"; }
+    virtual std::string getName() const override { return "TimeTest"; }
 
     void testDelay() {
         report(0,"testing delay (there will be a short pause)...");
diff --git a/tests/libYARP_OS/TimerTest.cpp b/tests/libYARP_OS/TimerTest.cpp
index fd4952d4e67..7a2256258c4 100644
--- a/tests/libYARP_OS/TimerTest.cpp
+++ b/tests/libYARP_OS/TimerTest.cpp
@@ -27,7 +27,7 @@ class TimerTest : public UnitTest {
     unsigned int runCount{ 1 };
 
 public:
-    virtual std::string getName() override { return "TimerTest"; }
+    virtual std::string getName() const override { return "TimerTest"; }
 
     //please note that the return values of the callbacks does not rappresent the result of the tests but simply keeps the timer alive..
     bool timingCallback(const YarpTimerEvent& timings)
diff --git a/tests/libYARP_OS/UnitTestTest.cpp b/tests/libYARP_OS/UnitTestTest.cpp
index 1756820fb66..ce6c0409124 100644
--- a/tests/libYARP_OS/UnitTestTest.cpp
+++ b/tests/libYARP_OS/UnitTestTest.cpp
@@ -14,7 +14,7 @@ using namespace yarp::os::impl;
 
 class UnitTestTest : public UnitTest {
 public:
-    virtual std::string getName() override { return "UnitTestTest"; }
+    virtual std::string getName() const override { return "UnitTestTest"; }
 
     void checkHeapMonitor() {
         if (!heapMonitorSupported()) {
diff --git a/tests/libYARP_OS/ValueTest.cpp b/tests/libYARP_OS/ValueTest.cpp
index d2c513e89af..69ce5147a20 100644
--- a/tests/libYARP_OS/ValueTest.cpp
+++ b/tests/libYARP_OS/ValueTest.cpp
@@ -63,7 +63,7 @@ using namespace yarp::os;
 
 class ValueTest : public UnitTest {
 public:
-    virtual std::string getName() override { return "ValueTest"; }
+    virtual std::string getName() const override { return "ValueTest"; }
 
     void checkCopy() {
         report(0,"check value copying");
diff --git a/tests/libYARP_OS/VocabTest.cpp b/tests/libYARP_OS/VocabTest.cpp
index 29f046787f9..fa2934c5dfe 100644
--- a/tests/libYARP_OS/VocabTest.cpp
+++ b/tests/libYARP_OS/VocabTest.cpp
@@ -18,7 +18,7 @@ using namespace yarp::os::impl;
 
 class VocabTest : public UnitTest {
 public:
-    virtual std::string getName() override { return "VocabTest"; }
+    virtual std::string getName() const override { return "VocabTest"; }
 
     void checkConvert() {
         report(0,"checking vocabulary conversions");
diff --git a/tests/libYARP_dev/AnalogWrapperTest.cpp b/tests/libYARP_dev/AnalogWrapperTest.cpp
index 5c6b09a4c32..f78cf6ef301 100644
--- a/tests/libYARP_dev/AnalogWrapperTest.cpp
+++ b/tests/libYARP_dev/AnalogWrapperTest.cpp
@@ -22,7 +22,7 @@ using namespace yarp::dev;
 class AnalogWrapperTest : public UnitTest
 {
 public:
-    virtual std::string getName() override { return "AnalogWrapperTest"; }
+    virtual std::string getName() const override { return "AnalogWrapperTest"; }
 
     void testAnalogWrapper() {
         report(0,"\ntest the Analogwrapper ");
diff --git a/tests/libYARP_dev/ControlBoardRemapperTest.cpp b/tests/libYARP_dev/ControlBoardRemapperTest.cpp
index 09b3d057770..d621433d811 100644
--- a/tests/libYARP_dev/ControlBoardRemapperTest.cpp
+++ b/tests/libYARP_dev/ControlBoardRemapperTest.cpp
@@ -67,7 +67,7 @@ const char *wrapperC_file_content   = "device controlboardwrapper2\n"
 class ControlBoardRemapperTest : public UnitTest
 {
 public:
-    virtual std::string getName() override { return "ControlBoardRemapperTest"; }
+    virtual std::string getName() const override { return "ControlBoardRemapperTest"; }
 
     void checkRemapper(yarp::dev::PolyDriver & ddRemapper, int rand, size_t nrOfRemappedAxes)
     {
diff --git a/tests/libYARP_dev/FrameTransformClientTest.cpp b/tests/libYARP_dev/FrameTransformClientTest.cpp
index 4a240942826..f6f155edf14 100644
--- a/tests/libYARP_dev/FrameTransformClientTest.cpp
+++ b/tests/libYARP_dev/FrameTransformClientTest.cpp
@@ -83,7 +83,7 @@ class FrameTransformClientTest : public UnitTest
         return true;
     }
 
-    virtual std::string getName() override
+    virtual std::string getName() const override
     {
         return "FrameTransformClientTest";
     }
diff --git a/tests/libYARP_dev/MapGrid2DTest.cpp b/tests/libYARP_dev/MapGrid2DTest.cpp
index d56d0711d1a..40d406f8230 100644
--- a/tests/libYARP_dev/MapGrid2DTest.cpp
+++ b/tests/libYARP_dev/MapGrid2DTest.cpp
@@ -31,7 +31,7 @@ using namespace yarp::os::impl;
 
 class MapGrid2DTest : public UnitTest {
 public:
-    virtual std::string getName() override { return "MapGrid2DTest"; }
+    virtual std::string getName() const override { return "MapGrid2DTest"; }
 
     void ReadMapfromString(MapGrid2D& m, std::string s)
     {
diff --git a/tests/libYARP_dev/MultipleAnalogSensorsInterfacesTest.cpp b/tests/libYARP_dev/MultipleAnalogSensorsInterfacesTest.cpp
index 08a39bb5d46..007cd439594 100644
--- a/tests/libYARP_dev/MultipleAnalogSensorsInterfacesTest.cpp
+++ b/tests/libYARP_dev/MultipleAnalogSensorsInterfacesTest.cpp
@@ -26,7 +26,7 @@ using namespace yarp::dev;
 class MultipleAnalogSensorsInterfacesTest : public UnitTest
 {
 public:
-    virtual std::string getName() override { return "MultipleAnalogSensorsInterfacesTest"; }
+    virtual std::string getName() const override { return "MultipleAnalogSensorsInterfacesTest"; }
 
     void checkRemapperOnSingleIMU()
     {
diff --git a/tests/libYARP_dev/PolyDriverTest.cpp b/tests/libYARP_dev/PolyDriverTest.cpp
index 689747686f0..d6c7671640b 100644
--- a/tests/libYARP_dev/PolyDriverTest.cpp
+++ b/tests/libYARP_dev/PolyDriverTest.cpp
@@ -57,7 +57,7 @@ class DeprecatedDeviceDriverTest : public DeprecatedDeviceDriver
 
 class PolyDriverTest : public UnitTest {
 public:
-    virtual std::string getName() override { return "PolyDriverTest"; }
+    virtual std::string getName() const override { return "PolyDriverTest"; }
 
     void testDeprecated() {
         report(0,"deprecated device test");
diff --git a/tests/libYARP_dev/TestFrameGrabberTest.cpp b/tests/libYARP_dev/TestFrameGrabberTest.cpp
index d635be775e1..4fdd875fb90 100644
--- a/tests/libYARP_dev/TestFrameGrabberTest.cpp
+++ b/tests/libYARP_dev/TestFrameGrabberTest.cpp
@@ -28,7 +28,7 @@ using namespace yarp::sig;
 class TestFrameGrabberTest : public UnitTest
 {
 public:
-    virtual std::string getName() override { return "TestFrameGrabberTest"; }
+    virtual std::string getName() const override { return "TestFrameGrabberTest"; }
 
     void testTestFrameGrabber() {
         report(0,"\ntest the TestFrameGrabber ");
diff --git a/tests/libYARP_dev/robotDescriptionTest.cpp b/tests/libYARP_dev/robotDescriptionTest.cpp
index ce8baa38c5b..ff4353b1fd0 100644
--- a/tests/libYARP_dev/robotDescriptionTest.cpp
+++ b/tests/libYARP_dev/robotDescriptionTest.cpp
@@ -27,7 +27,7 @@ class RobotDescriptionTest : public UnitTest
 {
 public:
 
-    virtual std::string getName() override
+    virtual std::string getName() const override
     {
         return "RobotDescriptionTest";
     }
diff --git a/tests/libYARP_math/MathTest.cpp b/tests/libYARP_math/MathTest.cpp
index 95cd17a871e..e92f46e00d9 100644
--- a/tests/libYARP_math/MathTest.cpp
+++ b/tests/libYARP_math/MathTest.cpp
@@ -31,7 +31,7 @@ const double TOL = 1e-8;
 
 class MathTest : public UnitTest {
 public:
-    virtual std::string getName() override { return "MathTest"; }
+    virtual std::string getName() const override { return "MathTest"; }
 
     // Assert that 2 vectors are equal
     void assertEqual(const Vector &a, const Vector &b, string testName, bool verbose=false){
diff --git a/tests/libYARP_math/RandTest.cpp b/tests/libYARP_math/RandTest.cpp
index b363e9c6c72..0124a191cec 100644
--- a/tests/libYARP_math/RandTest.cpp
+++ b/tests/libYARP_math/RandTest.cpp
@@ -28,7 +28,7 @@ using namespace yarp::math;
 
 class RandTest : public UnitTest {
 public:
-    virtual std::string getName() override { return "RandTest"; }
+    virtual std::string getName() const override { return "RandTest"; }
 
     void normalRnd()
     {
diff --git a/tests/libYARP_math/Vec2DTest.cpp b/tests/libYARP_math/Vec2DTest.cpp
index 5dccc8a1c6f..30f05f375b7 100644
--- a/tests/libYARP_math/Vec2DTest.cpp
+++ b/tests/libYARP_math/Vec2DTest.cpp
@@ -36,7 +36,7 @@ using namespace std;
 
 class Vec2DTest : public UnitTest {
 public:
-    virtual std::string getName() override { return "Vec2DTest"; }
+    virtual std::string getName() const override { return "Vec2DTest"; }
 
     virtual void runTests() override
     {
diff --git a/tests/libYARP_math/svdTest.cpp b/tests/libYARP_math/svdTest.cpp
index c4437d1f50f..bf5b3938287 100644
--- a/tests/libYARP_math/svdTest.cpp
+++ b/tests/libYARP_math/svdTest.cpp
@@ -31,7 +31,7 @@ const double TOL = 1e-8;
 
 class SVDTest : public UnitTest {
 public:
-    virtual std::string getName() override { return "SVDTest"; }
+    virtual std::string getName() const override { return "SVDTest"; }
 
     // Assert that 2 matrices are equal
     void assertEqual(const Matrix &A, const Matrix &B, string testName, bool verbose=false)
diff --git a/tests/libYARP_run/RunTest.cpp b/tests/libYARP_run/RunTest.cpp
index c23f0d3c1d0..440a09329d8 100644
--- a/tests/libYARP_run/RunTest.cpp
+++ b/tests/libYARP_run/RunTest.cpp
@@ -69,7 +69,7 @@ class YarpRun: public Thread
 
 class RunTest : public UnitTest {
 public:
-    virtual std::string getName() override { return "RunTest"; }
+    virtual std::string getName() const override { return "RunTest"; }
 
     virtual void testRun() {
         //this could be local or using an external nameserver, to be decided
diff --git a/tests/libYARP_serversql/ServerTest.cpp b/tests/libYARP_serversql/ServerTest.cpp
index 3fdda5d594b..3b374e8e384 100644
--- a/tests/libYARP_serversql/ServerTest.cpp
+++ b/tests/libYARP_serversql/ServerTest.cpp
@@ -24,7 +24,7 @@ using namespace yarp::os::impl;
  */
 class ServerTest : public UnitTest {
 public:
-    virtual std::string getName() override { return "ServerTest"; }
+    virtual std::string getName() const override { return "ServerTest"; }
 
     void checkRegisterFree() {
         report(0,"checking free register command...");
diff --git a/tests/libYARP_sig/ImageTest.cpp b/tests/libYARP_sig/ImageTest.cpp
index 95ba6692a35..0a8341f0bed 100644
--- a/tests/libYARP_sig/ImageTest.cpp
+++ b/tests/libYARP_sig/ImageTest.cpp
@@ -67,7 +67,7 @@ class readWriteTest : public yarp::os::PeriodicThread
 
 class ImageTest : public UnitTest {
 public:
-    virtual std::string getName() override { return "ImageTest"; }
+    virtual std::string getName() const override { return "ImageTest"; }
 
     void passImage(ImageOf<PixelRgb> img) {
         report(0, "passed a blank image ok");
diff --git a/tests/libYARP_sig/MatrixTest.cpp b/tests/libYARP_sig/MatrixTest.cpp
index d17c45f30d0..78cbfb14360 100644
--- a/tests/libYARP_sig/MatrixTest.cpp
+++ b/tests/libYARP_sig/MatrixTest.cpp
@@ -145,7 +145,7 @@ class MatrixTest : public UnitTest {
     }
 
 public:
-    virtual std::string getName() override { return "MatrixTest"; }
+    virtual std::string getName() const override { return "MatrixTest"; }
 
     void checkOperators()
     {
diff --git a/tests/libYARP_sig/PointCloudTest.cpp b/tests/libYARP_sig/PointCloudTest.cpp
index 9cd6fe78449..da47ba6bfac 100644
--- a/tests/libYARP_sig/PointCloudTest.cpp
+++ b/tests/libYARP_sig/PointCloudTest.cpp
@@ -31,7 +31,7 @@ float acceptedDiff = 1e-6f;
 class PointCloudTest : public yarp::os::impl::UnitTest
 {
 public:
-    virtual std::string getName() override
+    virtual std::string getName() const override
     { return "PointCloudTest"; }
 
     void readWriteMatchTest()
diff --git a/tests/libYARP_sig/SoundTest.cpp b/tests/libYARP_sig/SoundTest.cpp
index 8dae0d4030e..f5d56f004bb 100644
--- a/tests/libYARP_sig/SoundTest.cpp
+++ b/tests/libYARP_sig/SoundTest.cpp
@@ -19,7 +19,7 @@ using namespace yarp::os;
 
 class SoundTest : public UnitTest {
 public:
-    virtual std::string getName() override { return "SoundTest"; }
+    virtual std::string getName() const override { return "SoundTest"; }
 
     void checkSetGet() {
         report(0,"check set/get sample...");
diff --git a/tests/libYARP_sig/VectorOfTest.cpp b/tests/libYARP_sig/VectorOfTest.cpp
index 0888e772fd8..521e92c5497 100644
--- a/tests/libYARP_sig/VectorOfTest.cpp
+++ b/tests/libYARP_sig/VectorOfTest.cpp
@@ -191,7 +191,7 @@ class Thread3b :public Thread
 class VectorOfTest : public UnitTest {
 
 public:
-    virtual std::string getName() override { return "VectorOfTest"; }
+    virtual std::string getName() const override { return "VectorOfTest"; }
     void checkSendReceiveInt()
     {
         report(0, "check VectorO<int> send receive");
diff --git a/tests/libYARP_sig/VectorTest.cpp b/tests/libYARP_sig/VectorTest.cpp
index e03d5f22a62..80414d685bb 100644
--- a/tests/libYARP_sig/VectorTest.cpp
+++ b/tests/libYARP_sig/VectorTest.cpp
@@ -145,7 +145,7 @@ class VectorTest : public UnitTest {
     }
 
 public:
-    virtual std::string getName() override { return "VectorTest"; }
+    virtual std::string getName() const override { return "VectorTest"; }
 
     void checkGsl()
     {
diff --git a/tests/libYARP_wire_rep_utils/WireTest.cpp b/tests/libYARP_wire_rep_utils/WireTest.cpp
index c07e2e1273f..79fd81993e2 100644
--- a/tests/libYARP_wire_rep_utils/WireTest.cpp
+++ b/tests/libYARP_wire_rep_utils/WireTest.cpp
@@ -28,7 +28,7 @@ using namespace yarp::os::impl;
 class WireTest : public UnitTest
 {
 public:
-    virtual std::string getName() override { return "WireTest"; }
+    virtual std::string getName() const override { return "WireTest"; }
 
     void checkWire()
     {
diff --git a/tests/yarpidl_rosmsg/demo/main.cpp b/tests/yarpidl_rosmsg/demo/main.cpp
index 608957a345a..cf4303a6a5b 100644
--- a/tests/yarpidl_rosmsg/demo/main.cpp
+++ b/tests/yarpidl_rosmsg/demo/main.cpp
@@ -22,7 +22,7 @@ using namespace yarp::os::impl;
 
 class RosMsgTest : public UnitTest {
 public:
-    virtual std::string getName() override {
+    virtual std::string getName() const override {
         return "RosMsg";
     }
 };
diff --git a/tests/yarpidl_thrift/demo/main.cpp b/tests/yarpidl_thrift/demo/main.cpp
index d2ada76e9d6..52473014a7b 100644
--- a/tests/yarpidl_thrift/demo/main.cpp
+++ b/tests/yarpidl_thrift/demo/main.cpp
@@ -24,7 +24,7 @@ using namespace yarp::os::impl;
 
 class ThriftTest : public UnitTest {
 public:
-    virtual std::string getName() override {
+    virtual std::string getName() const override {
         return "ThriftTest";
     }
 };