diff --git a/src/devices/multipleAnalogSensorsRosPublishers/CMakeLists.txt b/src/devices/multipleAnalogSensorsRosPublishers/CMakeLists.txt
index 7ecf2564151..1f52dc8a087 100644
--- a/src/devices/multipleAnalogSensorsRosPublishers/CMakeLists.txt
+++ b/src/devices/multipleAnalogSensorsRosPublishers/CMakeLists.txt
@@ -42,19 +42,19 @@ endif()
 
 #---------------------------------------------------------------------------------------------------------
 
-yarp_prepare_plugin(WrenchRosPublisher
+yarp_prepare_plugin(WrenchStampedRosPublisher
                     CATEGORY device
-                    TYPE WrenchRosPublisher
-                    INCLUDE WrenchRosPublisher.h
-                    EXTRA_CONFIG WRAPPER=WrenchRosPublisher
+                    TYPE WrenchStampedRosPublisher
+                    INCLUDE WrenchStampedRosPublisher.h
+                    EXTRA_CONFIG WRAPPER=WrenchStampedRosPublisher
                     DEFAULT ON)
 
-if(ENABLE_WrenchRosPublisher)
-  yarp_add_plugin(yarp_WrenchRosPublisher)
+if(ENABLE_WrenchStampedRosPublisher)
+  yarp_add_plugin(yarp_WrenchStampedRosPublisher)
 
-  target_sources(yarp_WrenchRosPublisher PRIVATE WrenchRosPublisher.cpp WrenchRosPublisher.h GenericSensorRosPublisher.h )
+  target_sources(yarp_WrenchStampedRosPublisher PRIVATE WrenchStampedRosPublisher.cpp WrenchStampedRosPublisher.h GenericSensorRosPublisher.h )
 
-  target_link_libraries(yarp_WrenchRosPublisher PRIVATE YARP::YARP_os
+  target_link_libraries(yarp_WrenchStampedRosPublisher PRIVATE YARP::YARP_os
                                                      YARP::YARP_sig
                                                      YARP::YARP_dev
                                                      YARP_rosmsg)
@@ -64,7 +64,7 @@ if(ENABLE_WrenchRosPublisher)
                                                       YARP_dev
                                                       YARP_rosmsg)
 
-  yarp_install(TARGETS yarp_WrenchRosPublisher
+  yarp_install(TARGETS yarp_WrenchStampedRosPublisher
                EXPORT YARP_${YARP_PLUGIN_MASTER}
                COMPONENT ${YARP_PLUGIN_MASTER}
                LIBRARY DESTINATION ${YARP_DYNAMIC_PLUGINS_INSTALL_DIR}
@@ -73,7 +73,7 @@ if(ENABLE_WrenchRosPublisher)
 
   set(YARP_${YARP_PLUGIN_MASTER}_PRIVATE_DEPS ${YARP_${YARP_PLUGIN_MASTER}_PRIVATE_DEPS} PARENT_SCOPE)
 
-  set_property(TARGET yarp_WrenchRosPublisher PROPERTY FOLDER "Plugins/Device")
+  set_property(TARGET yarp_WrenchStampedRosPublisher PROPERTY FOLDER "Plugins/Device")
 endif()
 
 #---------------------------------------------------------------------------------------------------------
@@ -114,19 +114,19 @@ endif()
 
 #---------------------------------------------------------------------------------------------------------
 
-yarp_prepare_plugin(PoseRosPublisher
+yarp_prepare_plugin(PoseStampedRosPublisher
                     CATEGORY device
-                    TYPE PoseRosPublisher
-                    INCLUDE PoseRosPublisher.h
-                    EXTRA_CONFIG WRAPPER=PoseRosPublisher
+                    TYPE PoseStampedRosPublisher
+                    INCLUDE PoseStampedRosPublisher.h
+                    EXTRA_CONFIG WRAPPER=PoseStampedRosPublisher
                     DEFAULT ON)
 
-if(ENABLE_PoseRosPublisher)
-  yarp_add_plugin(yarp_PoseRosPublisher)
+if(ENABLE_PoseStampedRosPublisher)
+  yarp_add_plugin(yarp_PoseStampedRosPublisher)
 
-  target_sources(yarp_PoseRosPublisher PRIVATE PoseRosPublisher.cpp PoseRosPublisher.h GenericSensorRosPublisher.h )
+  target_sources(yarp_PoseStampedRosPublisher PRIVATE PoseStampedRosPublisher.cpp PoseStampedRosPublisher.h GenericSensorRosPublisher.h )
 
-  target_link_libraries(yarp_PoseRosPublisher PRIVATE YARP::YARP_os
+  target_link_libraries(yarp_PoseStampedRosPublisher PRIVATE YARP::YARP_os
                                                      YARP::YARP_sig
                                                      YARP::YARP_dev
                                                      YARP::YARP_math
@@ -138,7 +138,7 @@ if(ENABLE_PoseRosPublisher)
                                                       YARP_math
                                                       YARP_rosmsg)
 
-  yarp_install(TARGETS yarp_PoseRosPublisher
+  yarp_install(TARGETS yarp_PoseStampedRosPublisher
                EXPORT YARP_${YARP_PLUGIN_MASTER}
                COMPONENT ${YARP_PLUGIN_MASTER}
                LIBRARY DESTINATION ${YARP_DYNAMIC_PLUGINS_INSTALL_DIR}
@@ -147,24 +147,24 @@ if(ENABLE_PoseRosPublisher)
 
   set(YARP_${YARP_PLUGIN_MASTER}_PRIVATE_DEPS ${YARP_${YARP_PLUGIN_MASTER}_PRIVATE_DEPS} PARENT_SCOPE)
 
-  set_property(TARGET yarp_PoseRosPublisher PROPERTY FOLDER "Plugins/Device")
+  set_property(TARGET yarp_PoseStampedRosPublisher PROPERTY FOLDER "Plugins/Device")
 endif()
 
 #---------------------------------------------------------------------------------------------------------
 
-yarp_prepare_plugin(MagfieldRosPublisher
+yarp_prepare_plugin(MagneticFieldRosPublisher
                     CATEGORY device
-                    TYPE MagfieldRosPublisher
-                    INCLUDE MagfieldRosPublisher.h
-                    EXTRA_CONFIG WRAPPER=MagfieldRosPublisher
+                    TYPE MagneticFieldRosPublisher
+                    INCLUDE MagneticFieldRosPublisher.h
+                    EXTRA_CONFIG WRAPPER=MagneticFieldRosPublisher
                     DEFAULT ON)
 
-if(ENABLE_MagfieldRosPublisher)
-  yarp_add_plugin(yarp_MagfieldRosPublisher)
+if(ENABLE_MagneticFieldRosPublisher)
+  yarp_add_plugin(yarp_MagneticFieldRosPublisher)
 
-  target_sources(yarp_MagfieldRosPublisher PRIVATE MagfieldRosPublisher.cpp MagfieldRosPublisher.h GenericSensorRosPublisher.h )
+  target_sources(yarp_MagneticFieldRosPublisher PRIVATE MagneticFieldRosPublisher.cpp MagneticFieldRosPublisher.h GenericSensorRosPublisher.h )
 
-  target_link_libraries(yarp_MagfieldRosPublisher PRIVATE YARP::YARP_os
+  target_link_libraries(yarp_MagneticFieldRosPublisher PRIVATE YARP::YARP_os
                                                      YARP::YARP_sig
                                                      YARP::YARP_dev
                                                      YARP_rosmsg)
@@ -174,7 +174,7 @@ if(ENABLE_MagfieldRosPublisher)
                                                       YARP_dev
                                                       YARP_rosmsg)
 
-  yarp_install(TARGETS yarp_MagfieldRosPublisher
+  yarp_install(TARGETS yarp_MagneticFieldRosPublisher
                EXPORT YARP_${YARP_PLUGIN_MASTER}
                COMPONENT ${YARP_PLUGIN_MASTER}
                LIBRARY DESTINATION ${YARP_DYNAMIC_PLUGINS_INSTALL_DIR}
@@ -183,7 +183,7 @@ if(ENABLE_MagfieldRosPublisher)
 
   set(YARP_${YARP_PLUGIN_MASTER}_PRIVATE_DEPS ${YARP_${YARP_PLUGIN_MASTER}_PRIVATE_DEPS} PARENT_SCOPE)
 
-  set_property(TARGET yarp_MagfieldRosPublisher PROPERTY FOLDER "Plugins/Device")
+  set_property(TARGET yarp_MagneticFieldRosPublisher PROPERTY FOLDER "Plugins/Device")
 endif()
 
 #---------------------------------------------------------------------------------------------------------
\ No newline at end of file
diff --git a/src/devices/multipleAnalogSensorsRosPublishers/IMURosPublisher.cpp b/src/devices/multipleAnalogSensorsRosPublishers/IMURosPublisher.cpp
index 159ea272dfe..8302e4a9b8d 100644
--- a/src/devices/multipleAnalogSensorsRosPublishers/IMURosPublisher.cpp
+++ b/src/devices/multipleAnalogSensorsRosPublishers/IMURosPublisher.cpp
@@ -6,7 +6,7 @@
  * BSD-3-Clause license. See the accompanying LICENSE file for details.
  */
 
-#include "ImuRosPublisher.h"
+#include "IMURosPublisher.h"
 
 #ifndef M_PI
 #define M_PI (3.14159265358979323846)
diff --git a/src/devices/multipleAnalogSensorsRosPublishers/MagfieldRosPublisher.cpp b/src/devices/multipleAnalogSensorsRosPublishers/MagneticFieldRosPublisher.cpp
similarity index 90%
rename from src/devices/multipleAnalogSensorsRosPublishers/MagfieldRosPublisher.cpp
rename to src/devices/multipleAnalogSensorsRosPublishers/MagneticFieldRosPublisher.cpp
index 155c4d18f82..d19d93e6e03 100644
--- a/src/devices/multipleAnalogSensorsRosPublishers/MagfieldRosPublisher.cpp
+++ b/src/devices/multipleAnalogSensorsRosPublishers/MagneticFieldRosPublisher.cpp
@@ -6,12 +6,12 @@
  * BSD-3-Clause license. See the accompanying LICENSE file for details.
  */
 
-#include "MagfieldRosPublisher.h"
+#include "MagneticFieldRosPublisher.h"
 
 #include <yarp/os/Log.h>
 #include <yarp/os/LogStream.h>
 
-bool MagfieldRosPublisher::viewInterfaces()
+bool MagneticFieldRosPublisher::viewInterfaces()
 {
     // View all the interfaces
     bool ok = true;
@@ -20,7 +20,7 @@ bool MagfieldRosPublisher::viewInterfaces()
     return ok;
 }
 
-void MagfieldRosPublisher::run()
+void MagneticFieldRosPublisher::run()
 {
     if (m_publisher.asPort().isOpen())
     {
diff --git a/src/devices/multipleAnalogSensorsRosPublishers/MagfieldRosPublisher.h b/src/devices/multipleAnalogSensorsRosPublishers/MagneticFieldRosPublisher.h
similarity index 94%
rename from src/devices/multipleAnalogSensorsRosPublishers/MagfieldRosPublisher.h
rename to src/devices/multipleAnalogSensorsRosPublishers/MagneticFieldRosPublisher.h
index 5c7924ea777..df65c5aaeaf 100644
--- a/src/devices/multipleAnalogSensorsRosPublishers/MagfieldRosPublisher.h
+++ b/src/devices/multipleAnalogSensorsRosPublishers/MagneticFieldRosPublisher.h
@@ -20,7 +20,7 @@
  *
  * | YARP device name |
  * |:-----------------:|
- * | `MagfieldRosPublisher` |
+ * | `MagneticFieldRosPublisher` |
  *
  * The parameters accepted by this device are:
  * | Parameter name | SubParameter   | Type    | Units          | Default Value    | Required                    | Description                                                       | Notes |
@@ -29,7 +29,7 @@
  * | node_name      |      -         | string  | -              | $topic + "_node" | No                          | The name of the ROS node opened by this device                    | Autogenerated by default |
  * | period         |      -         | double  | s              |   -              | Yes                         | Refresh period of the broadcasted values in seconds               |  |
  */
-class MagfieldRosPublisher : public GenericSensorRosPublisher< yarp::rosmsg::sensor_msgs::MagneticField>
+class MagneticFieldRosPublisher : public GenericSensorRosPublisher< yarp::rosmsg::sensor_msgs::MagneticField>
 {
 protected:
     // Interface of the wrapped device
diff --git a/src/devices/multipleAnalogSensorsRosPublishers/PoseRosPublisher.cpp b/src/devices/multipleAnalogSensorsRosPublishers/PoseStampedRosPublisher.cpp
similarity index 93%
rename from src/devices/multipleAnalogSensorsRosPublishers/PoseRosPublisher.cpp
rename to src/devices/multipleAnalogSensorsRosPublishers/PoseStampedRosPublisher.cpp
index 1192836e8b1..330f3fc1fd8 100644
--- a/src/devices/multipleAnalogSensorsRosPublishers/PoseRosPublisher.cpp
+++ b/src/devices/multipleAnalogSensorsRosPublishers/PoseStampedRosPublisher.cpp
@@ -6,7 +6,7 @@
  * BSD-3-Clause license. See the accompanying LICENSE file for details.
  */
 
-#include "PoseRosPublisher.h"
+#include "PoseStampedRosPublisher.h"
 #include <yarp/sig/Matrix.h>
 #include <yarp/math/Math.h>
 
@@ -14,7 +14,7 @@
 #define M_PI (3.14159265358979323846)
 #endif
 
-bool PoseRosPublisher::viewInterfaces()
+bool PoseStampedRosPublisher::viewInterfaces()
 {
     // View all the interfaces
     bool ok = true;
@@ -24,7 +24,7 @@ bool PoseRosPublisher::viewInterfaces()
     return ok;
 }
 
-void PoseRosPublisher::run()
+void PoseStampedRosPublisher::run()
 {
     if (m_publisher.asPort().isOpen())
     {
diff --git a/src/devices/multipleAnalogSensorsRosPublishers/PoseRosPublisher.h b/src/devices/multipleAnalogSensorsRosPublishers/PoseStampedRosPublisher.h
similarity index 94%
rename from src/devices/multipleAnalogSensorsRosPublishers/PoseRosPublisher.h
rename to src/devices/multipleAnalogSensorsRosPublishers/PoseStampedRosPublisher.h
index 708ac062715..7629208c31f 100644
--- a/src/devices/multipleAnalogSensorsRosPublishers/PoseRosPublisher.h
+++ b/src/devices/multipleAnalogSensorsRosPublishers/PoseStampedRosPublisher.h
@@ -20,7 +20,7 @@
  *
  * | YARP device name |
  * |:-----------------:|
- * | `PoseRosPublisher` |
+ * | `PoseStampedRosPublisher` |
  *
  * The parameters accepted by this device are:
  * | Parameter name | SubParameter   | Type    | Units          | Default Value    | Required                    | Description                                                       | Notes |
@@ -29,7 +29,7 @@
  * | node_name      |      -         | string  | -              | $topic + "_node" | No                          | The name of the ROS node opened by this device                    | Autogenerated by default |
  * | period         |      -         | double  | s              |   -              | Yes                         | Refresh period of the broadcasted values in seconds               |  |
  */
-class PoseRosPublisher : public GenericSensorRosPublisher<yarp::rosmsg::geometry_msgs::PoseStamped>
+class PoseStampedRosPublisher : public GenericSensorRosPublisher<yarp::rosmsg::geometry_msgs::PoseStamped>
 {
     // Interface of the wrapped device
     yarp::dev::IOrientationSensors* m_iOrientationSensors{ nullptr };
diff --git a/src/devices/multipleAnalogSensorsRosPublishers/WrenchRosPublisher.cpp b/src/devices/multipleAnalogSensorsRosPublishers/WrenchStampedRosPublisher.cpp
similarity index 90%
rename from src/devices/multipleAnalogSensorsRosPublishers/WrenchRosPublisher.cpp
rename to src/devices/multipleAnalogSensorsRosPublishers/WrenchStampedRosPublisher.cpp
index ccbe7b883e3..f9698a5938a 100644
--- a/src/devices/multipleAnalogSensorsRosPublishers/WrenchRosPublisher.cpp
+++ b/src/devices/multipleAnalogSensorsRosPublishers/WrenchStampedRosPublisher.cpp
@@ -6,9 +6,9 @@
  * BSD-3-Clause license. See the accompanying LICENSE file for details.
  */
 
-#include "WrenchRosPublisher.h"
+#include "WrenchStampedRosPublisher.h"
 
-bool WrenchRosPublisher::viewInterfaces()
+bool WrenchStampedRosPublisher::viewInterfaces()
 {
     // View all the interfaces
     bool ok = m_poly->view(m_iFTsens);
@@ -16,7 +16,7 @@ bool WrenchRosPublisher::viewInterfaces()
     return ok;
 }
 
-void WrenchRosPublisher::run()
+void WrenchStampedRosPublisher::run()
 {
     if (m_publisher.asPort().isOpen())
     {
diff --git a/src/devices/multipleAnalogSensorsRosPublishers/WrenchRosPublisher.h b/src/devices/multipleAnalogSensorsRosPublishers/WrenchStampedRosPublisher.h
similarity index 94%
rename from src/devices/multipleAnalogSensorsRosPublishers/WrenchRosPublisher.h
rename to src/devices/multipleAnalogSensorsRosPublishers/WrenchStampedRosPublisher.h
index da2e503bbfd..ae06ccbe721 100644
--- a/src/devices/multipleAnalogSensorsRosPublishers/WrenchRosPublisher.h
+++ b/src/devices/multipleAnalogSensorsRosPublishers/WrenchStampedRosPublisher.h
@@ -20,7 +20,7 @@
  *
  * | YARP device name |
  * |:-----------------:|
- * | `WrenchRosPublisher` |
+ * | `WrenchStampedRosPublisher` |
  *
  * The parameters accepted by this device are:
  * | Parameter name | SubParameter   | Type    | Units          | Default Value    | Required                    | Description                                                       | Notes |
@@ -29,7 +29,7 @@
  * | node_name      |      -         | string  | -              | $topic + "_node" | No                          | The name of the ROS node opened by this device                    | Autogenerated by default |
  * | period         |      -         | double  | s              |   -              | Yes                         | Refresh period of the broadcasted values in seconds               |  |
  */
-class WrenchRosPublisher : public GenericSensorRosPublisher<yarp::rosmsg::geometry_msgs::WrenchStamped>
+class WrenchStampedRosPublisher : public GenericSensorRosPublisher<yarp::rosmsg::geometry_msgs::WrenchStamped>
 {
     // Interface of the wrapped device
     yarp::dev::ISixAxisForceTorqueSensors* m_iFTsens{ nullptr };