diff --git a/data/yarpmanager/tests/xml/modules/test_grabber.xml b/data/yarpmanager/tests/xml/modules/test_grabber.xml
index 804f5b35e40..c7e1941ff93 100644
--- a/data/yarpmanager/tests/xml/modules/test_grabber.xml
+++ b/data/yarpmanager/tests/xml/modules/test_grabber.xml
@@ -17,7 +17,7 @@
     </authors>
 
     <data>
-        <input>
+        <input port_type="service">
             <type>Rpc</type>
             <port>/test_grabber/quit</port>
             <required>no</required>
diff --git a/src/modules/opencv/opencv_grabber.xml b/src/modules/opencv/opencv_grabber.xml
index d4cf1ab9877..78f69ea7f67 100644
--- a/src/modules/opencv/opencv_grabber.xml
+++ b/src/modules/opencv/opencv_grabber.xml
@@ -12,7 +12,15 @@
 	</authors>
 	
 	<data>     
-		<output>
+        <input port_type="service">
+            <type>Rpc</type>
+            <port>/opencv_grabber/quit</port>
+            <required>no</required>
+            <priority>no</priority>
+            <description> a port which receives rpc command such as 'quit'.</description>
+        </input>
+
+		<output port_type="stream">
 			<type>ImageOfPixelRgb</type>
 			<port carrier="udp">/grabber</port>
 			<description>output image port</description>
diff --git a/src/modules/portaudio/CMakeLists.txt b/src/modules/portaudio/CMakeLists.txt
index 40842b3daa2..d40c7a3ab09 100644
--- a/src/modules/portaudio/CMakeLists.txt
+++ b/src/modules/portaudio/CMakeLists.txt
@@ -28,6 +28,9 @@ if(NOT SKIP_portaudio)
   else(PortAudio_FOUND)
     message(SEND_ERROR "portaudio not found")
   endif(PortAudio_FOUND)
+    
+  yarp_install(FILES portaudio.xml DESTINATION ${YARP_MODULES_INSTALL_DIR})
+
 endif(NOT SKIP_portaudio)
 
 
diff --git a/src/modules/portaudio/portaudio.xml b/src/modules/portaudio/portaudio.xml
new file mode 100644
index 00000000000..396473f40f7
--- /dev/null
+++ b/src/modules/portaudio/portaudio.xml
@@ -0,0 +1,51 @@
+<module>
+    <name>portaudio</name>
+    <description> A frame grabber test device (start up a fake image source)</description>
+    <version>1.0</version>
+
+    <arguments>
+        <param  default="0"  required="no" desc="maximum rate in Hz to read from subdevice">framerate</param>
+        <param  default="0"  required="no" desc="audio sample rate (0=automatic)">rate</param>
+        <param  default="0"  required="no" desc="number of samples per network packet (0=automatic)">samples</param>
+        <param  default="0"  required="no" desc="number of audio channels (0=automatic, max is 2)">channels</param>
+        <param  default="-1" required="no" desc="which portaudio index to use (-1=automatic)">id</param>
+        <switch default=""   required="no" desc="if present, send audio read from microphone immediately back to speaker"> loopback</switch>
+        <switch default=""   required="no" desc="if present, use strict policy for sending data"> no_drop</switch>
+        <switch default=""   required="no" desc="if present, add timestamps to data"> stamp</switch>
+        <switch default=""   required="no" desc="portaudio.render_mode_append"> render_mode_append</switch>
+        <switch default=""   required="no" desc="portaudio.render_mode_immediate"> render_mode_immediate</switch>
+    </arguments>
+
+    <authors>
+        <author email="paulfitz@alum.mit.edu"> Paul Fitzpatrick </author>
+    </authors>
+
+    <data>
+        <input port_type="service">
+            <type>Rpc</type>
+            <port>/portaudio/quit</port>
+            <required>no</required>
+            <priority>no</priority>
+            <description> a port which receives rpc command such as 'quit'.</description>
+        </input>
+
+        <output port_type="stream">
+            <type>Sound</type>
+            <port carrier="udp">/grabber</port>
+            <description>output audio port</description>
+        </output>
+    </data>
+
+    <deployer>yarpdev</deployer>
+
+    <dependencies>
+        <computer>
+        </computer>
+    </dependencies>
+
+    <development>
+        <include></include>
+        <library>YARP</library>
+    </development>
+
+</module>
diff --git a/src/yarpmotorgui-gtk/CMakeLists.txt b/src/yarpmotorgui-gtk/CMakeLists.txt
index 5e26efe4ced..d16ffd195b4 100644
--- a/src/yarpmotorgui-gtk/CMakeLists.txt
+++ b/src/yarpmotorgui-gtk/CMakeLists.txt
@@ -83,4 +83,7 @@ if(CREATE_YARPMOTORGUI AND YARP_HAS_GTK2)
     set_target_properties(yarpmotorgui-gtk PROPERTIES OUTPUT_NAME yarpmotorgui)
   endif()
 
+  yarp_install(FILES yarpmotorgui.xml
+               DESTINATION ${YARP_MODULES_INSTALL_DIR})
+
 endif()
diff --git a/src/yarpmotorgui-gtk/yarpmotorgui.xml b/src/yarpmotorgui-gtk/yarpmotorgui.xml
new file mode 100644
index 00000000000..651399eeb6b
--- /dev/null
+++ b/src/yarpmotorgui-gtk/yarpmotorgui.xml
@@ -0,0 +1,29 @@
+<module>
+	<name>yarpmotorgui</name>
+	<description> Yarp motor GUI</description>
+	<version>1.0</version>
+
+	<authors>
+        <author email="marco.randazzo@iit.it"> Marco Randazzo </author>
+	</authors>
+
+	<arguments>
+		<param default="icub" required="no" desc="weight of the window">name</param>
+		<param default="(head torso left_arm right_arm left_leg right_leg)" required="no" desc="a list of the robot parts. e.g, (head torso)">parts</param>
+	</arguments>
+
+	<data>
+	</data>
+
+    <dependencies>
+        <computer>
+        </computer>
+    </dependencies>
+
+	<development>
+		<include></include>
+		<library>YARP</library>
+	</development>
+
+</module>
+
diff --git a/src/yarpmotorgui-qt/CMakeLists.txt b/src/yarpmotorgui-qt/CMakeLists.txt
index b655302b13d..45dd26fba13 100644
--- a/src/yarpmotorgui-qt/CMakeLists.txt
+++ b/src/yarpmotorgui-qt/CMakeLists.txt
@@ -82,5 +82,6 @@ if(CREATE_YARPMOTORGUI AND YARP_HAS_QT5)
                                     TARGET_DEST yarpmotorgui-qt.app
                                     INSTALL_COMPONENT utilities
                                     INSTALL_DESTINATION "${CMAKE_INSTALL_BINDIR}")
-
+  yarp_install(FILES yarpmotorgui.xml
+               DESTINATION ${YARP_MODULES_INSTALL_DIR})
 endif()
diff --git a/src/yarpmotorgui-qt/yarpmotorgui.xml b/src/yarpmotorgui-qt/yarpmotorgui.xml
new file mode 100644
index 00000000000..651399eeb6b
--- /dev/null
+++ b/src/yarpmotorgui-qt/yarpmotorgui.xml
@@ -0,0 +1,29 @@
+<module>
+	<name>yarpmotorgui</name>
+	<description> Yarp motor GUI</description>
+	<version>1.0</version>
+
+	<authors>
+        <author email="marco.randazzo@iit.it"> Marco Randazzo </author>
+	</authors>
+
+	<arguments>
+		<param default="icub" required="no" desc="weight of the window">name</param>
+		<param default="(head torso left_arm right_arm left_leg right_leg)" required="no" desc="a list of the robot parts. e.g, (head torso)">parts</param>
+	</arguments>
+
+	<data>
+	</data>
+
+    <dependencies>
+        <computer>
+        </computer>
+    </dependencies>
+
+	<development>
+		<include></include>
+		<library>YARP</library>
+	</development>
+
+</module>
+
diff --git a/src/yarpview-gtk/yarpview.xml b/src/yarpview-gtk/yarpview.xml
index 266b786141c..2eb2cf42516 100644
--- a/src/yarpview-gtk/yarpview.xml
+++ b/src/yarpview-gtk/yarpview.xml
@@ -3,6 +3,12 @@
 	<description> Yarp image viewer</description>
 	<version>1.0</version>
 
+	<authors>
+        <author email="lorenzo.natale@iit.it"> Lorenzo Natale </author>
+        <author email="matteo.brunettini@iit.it"> Matteo Brunettini </author>
+        <author email="paulfitz@alum.mit.edu"> Paul Fitzpatrick </author>
+	</authors>
+
 	<arguments>
 		<!-- <param default="/yarpview/img:i" required="no" desc="input port name">name</param> -->
 		<param default="" required="no" desc="x position of the window in the screen">x</param>
@@ -10,19 +16,14 @@
 		<param default="" required="no" desc="weight of the window">w</param>
 		<param default="" required="no" desc="height of the window">h</param>
 		<param default="" required="no" desc="refresh time [ms]">p</param>
-		<param default="" required="no" desc="output port name (no default is given, if this option is not specified the port is not created)">out</param>
 		<param default="" required="no" desc="output network">neto</param>
 		<param default="" required="no" desc="input network">neti</param>
+		<param default="" required="no" desc="output port name (no default is given, if this option is not specified the port is not created)">out</param>
 		<switch default="" required="no" desc="synchronous display, every image received by the input port is displayed"> synch </switch>
+        <switch default="" required="no" desc="if this flag is enabled, no window controls will be printed"> compact </switch>
+        <switch default="" required="no" desc="keep windows above others"> keep-above </switch>
 	</arguments>
 
-	<authors>
-
-                <author email="lorenzo.natale@iit.it"> Lorenzo Natale </author>
-                <author email="matteo.brunettini@iit.it"> Matteo Brunettini </author>
-                <author email="paulfitz@alum.mit.edu"> Paul Fitzpatrick </author>
-	</authors>
-
 	<data>
 		<input>
 			<type>*</type>
@@ -44,3 +45,4 @@
 	</development>
 
 </module>
+
diff --git a/src/yarpview-qt/src/yarpview.xml b/src/yarpview-qt/src/yarpview.xml
index 266b786141c..2eb2cf42516 100644
--- a/src/yarpview-qt/src/yarpview.xml
+++ b/src/yarpview-qt/src/yarpview.xml
@@ -3,6 +3,12 @@
 	<description> Yarp image viewer</description>
 	<version>1.0</version>
 
+	<authors>
+        <author email="lorenzo.natale@iit.it"> Lorenzo Natale </author>
+        <author email="matteo.brunettini@iit.it"> Matteo Brunettini </author>
+        <author email="paulfitz@alum.mit.edu"> Paul Fitzpatrick </author>
+	</authors>
+
 	<arguments>
 		<!-- <param default="/yarpview/img:i" required="no" desc="input port name">name</param> -->
 		<param default="" required="no" desc="x position of the window in the screen">x</param>
@@ -10,19 +16,14 @@
 		<param default="" required="no" desc="weight of the window">w</param>
 		<param default="" required="no" desc="height of the window">h</param>
 		<param default="" required="no" desc="refresh time [ms]">p</param>
-		<param default="" required="no" desc="output port name (no default is given, if this option is not specified the port is not created)">out</param>
 		<param default="" required="no" desc="output network">neto</param>
 		<param default="" required="no" desc="input network">neti</param>
+		<param default="" required="no" desc="output port name (no default is given, if this option is not specified the port is not created)">out</param>
 		<switch default="" required="no" desc="synchronous display, every image received by the input port is displayed"> synch </switch>
+        <switch default="" required="no" desc="if this flag is enabled, no window controls will be printed"> compact </switch>
+        <switch default="" required="no" desc="keep windows above others"> keep-above </switch>
 	</arguments>
 
-	<authors>
-
-                <author email="lorenzo.natale@iit.it"> Lorenzo Natale </author>
-                <author email="matteo.brunettini@iit.it"> Matteo Brunettini </author>
-                <author email="paulfitz@alum.mit.edu"> Paul Fitzpatrick </author>
-	</authors>
-
 	<data>
 		<input>
 			<type>*</type>
@@ -44,3 +45,4 @@
 	</development>
 
 </module>
+