diff --git a/CMakeLists.txt b/CMakeLists.txt
index 74464862b..7f912f342 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -33,10 +33,10 @@ SET( PROJ_BINARY_DIR ${orocos-rtt_BINARY_DIR} )
 INCLUDE(${PROJ_SOURCE_DIR}/orocos-rtt.cmake OPTIONAL)
 if (NOT EXISTS ${PROJ_SOURCE_DIR}/orocos-rtt.cmake)
   # Setup the default settings
-  INCLUDE(${PROJ_SOURCE_DIR}/orocos-rtt.default.cmake)
   MESSAGE(
     "No orocos-rtt.cmake file loaded, using default settings."
     "See orocos-rtt.default.cmake")
+  INCLUDE(${PROJ_SOURCE_DIR}/orocos-rtt.default.cmake)
 endif ()
 
 IF(CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
diff --git a/Makefile b/Makefile
index df98ab99c..f15222a6e 100644
--- a/Makefile
+++ b/Makefile
@@ -1,4 +1,5 @@
 ifdef ROS_ROOT
+EXTRA_CMAKE_FLAGS=-DENABLE_CORBA=ON -DCORBA_IMPLEMENTATION=OMNIORB
 default: install
 include $(shell rospack find mk)/cmake.mk
 install: all
diff --git a/config/FindCorba.cmake b/config/FindCorba.cmake
index 239c42ca9..b792257ff 100644
--- a/config/FindCorba.cmake
+++ b/config/FindCorba.cmake
@@ -18,20 +18,26 @@ if (ENABLE_CORBA)
         ELSE(NOT TAO_FOUND)
             MESSAGE(STATUS "CORBA enabled: ${TAO_FOUND_COMPONENTS}")
 
-	    # Copy flags:
+	# Copy flags:
         SET(CORBA_INCLUDE_DIRS ${TAO_INCLUDE_DIRS})
-	    SET(CORBA_CFLAGS ${TAO_CPP_FLAGS})
+	SET(CORBA_CFLAGS ${TAO_CPP_FLAGS})
         SET(CORBA_LIBRARIES ${TAO_LIBRARIES})
-	    SET(CORBA_DEFINITIONS ${TAO_DEFINITIONS})
-	    # Flag used in rtt-corba-config.h
-	    SET(CORBA_IS_TAO 1)
+	SET(CORBA_DEFINITIONS ${TAO_DEFINITIONS})
+	# Flag used in rtt-corba-config.h
+	SET(CORBA_IS_TAO 1)
 
-	    if( TAO_Messaging_FOUND )
-	      SET(CORBA_TAO_HAS_MESSAGING 1)
-	    endif()
+	if( TAO_Messaging_FOUND )
+	  SET(CORBA_TAO_HAS_MESSAGING 1)
+	endif()
 
- 	    # Including a TAO header is sufficient to depend on this library.
-	    set(CORBA_USER_LINK_LIBS ${TAO_CLIENT_LIBRARIES})
+ 	# Including a TAO header is sufficient to depend on this library.
+	set(CORBA_USER_LINK_LIBS ${TAO_CLIENT_LIBRARIES} )
+
+	# We noticed TAO depends on librt as well on Linux platforms
+	if(${OROCOS_TARGET} MATCHES "gnulinux|xenomai|lxrt")
+	  set(CORBA_LIBRARIES ${CORBA_LIBRARIES} rt )
+	  set(CORBA_USER_LINK_LIBS ${CORBA_USER_LINK_LIBS} rt )
+	endif()
 
        ENDIF(NOT TAO_FOUND)
     ELSEIF(CORBA_IMPLEMENTATION STREQUAL "OMNIORB")
diff --git a/debian/changelog b/debian/changelog
index e1e45ee65..b2b42677a 100644
--- a/debian/changelog
+++ b/debian/changelog
@@ -4,6 +4,12 @@ orocos-rtt (2.4.0-1) unstable; urgency=low
 
  -- Peter Soetens <peter@thesourceworks.com>  Sat, 30 Apr 2011 01:12:22 +0200
 
+orocos-rtt (2.3.2-1) maverick; urgency=low
+
+  * New upstream release
+
+ -- Peter Soetens <peter@thesourceworks.com>  Tue, 03 May 2011 18:08:41 +0200
+
 orocos-rtt (2.3.1-1) unstable; urgency=low
 
   * New upstream release
diff --git a/doc/xml/images/ATaskContext-basics.png b/doc/xml/images/ATaskContext-basics.png
index 47448897c..cec1a90fd 100644
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index ea7b9fbb5..e0b9f39b8 100644
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index c2c7aaea3..001f6d58d 100644
--- a/doc/xml/images/ATaskContext.svg
+++ b/doc/xml/images/ATaskContext.svg
@@ -14,10 +14,10 @@
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    id="svg2"
    sodipodi:version="0.32"
-   inkscape:version="0.47 r22583"
+   inkscape:version="0.48.0 r9654"
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-   inkscape:export-filename="/home/kaltan/src/git/orocos-toolchain/rtt/doc/xml/images/ATaskContext-services.png"
+   inkscape:export-filename="ATaskContext-services.png"
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         <dc:format>image/svg+xml</dc:format>
         <dc:type
            rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
-        <dc:title></dc:title>
+        <dc:title />
       </cc:Work>
     </rdf:RDF>
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-           d="m 172.39417,278.48288 a 25.048725,25.048725 0 1 1 -50.09745,0 25.048725,25.048725 0 1 1 50.09745,0 z"
+           d="m 172.39417,278.48288 c 0,13.83403 -11.2147,25.04872 -25.04873,25.04872 -13.83403,0 -25.04872,-11.21469 -25.04872,-25.04872 0,-13.83403 11.21469,-25.04873 25.04872,-25.04873 13.83403,0 25.04873,11.2147 25.04873,25.04873 z"
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+       y="210.81886"
+       inkscape:export-filename="/home/kaltan/src/git/orocos-toolchain/rtt/doc/xml/images/ATaskContext-services.png"
+       inkscape:export-xdpi="100"
+       inkscape:export-ydpi="100" />
     <text
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        style="font-size:22px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:125%;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;font-family:Sans"
        x="527.84607"
        y="241.86327"
        id="text1938"
-       sodipodi:linespacing="125%"><tspan
+       sodipodi:linespacing="125%"
+       inkscape:export-filename="/home/kaltan/src/git/orocos-toolchain/rtt/doc/xml/images/ATaskContext-services.png"
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+       inkscape:export-ydpi="100"><tspan
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@@ -2369,10 +2451,16 @@
        height="162.17102"
        width="153.4794"
        id="rect1952"
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+       style="fill:#ffffff;fill-opacity:1;fill-rule:nonzero;stroke:#181992;stroke-width:3.30000067;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;stroke-dashoffset:0;marker:none;visibility:visible;display:inline;overflow:visible"
+       inkscape:export-filename="/home/kaltan/src/git/orocos-toolchain/rtt/doc/xml/images/ATaskContext-services.png"
+       inkscape:export-xdpi="100"
+       inkscape:export-ydpi="100" />
     <g
        id="g2005"
-       transform="translate(94,64)">
+       transform="translate(94,64)"
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+       inkscape:export-xdpi="100"
+       inkscape:export-ydpi="100">
       <text
          sodipodi:linespacing="125%"
          id="text1964"
@@ -2400,10 +2488,16 @@
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-       style="fill:#ffffff;fill-opacity:1;fill-rule:nonzero;stroke:#181992;stroke-width:3.30000043;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;stroke-dashoffset:0;marker:none;visibility:visible;display:inline;overflow:visible" />
+       style="fill:#ffffff;fill-opacity:1;fill-rule:nonzero;stroke:#181992;stroke-width:3.30000043;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;stroke-dashoffset:0;marker:none;visibility:visible;display:inline;overflow:visible"
+       inkscape:export-filename="/home/kaltan/src/git/orocos-toolchain/rtt/doc/xml/images/ATaskContext-services.png"
+       inkscape:export-xdpi="100"
+       inkscape:export-ydpi="100" />
     <g
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-       transform="translate(50,64)">
+       transform="translate(50,64)"
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+       inkscape:export-xdpi="100"
+       inkscape:export-ydpi="100">
       <text
          sodipodi:linespacing="125%"
          id="text1970"
@@ -2426,7 +2520,10 @@
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        y="145.64458"
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-       sodipodi:linespacing="125%"><tspan
+       sodipodi:linespacing="125%"
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-       xml:space="preserve"><tspan
+       xml:space="preserve"
+       inkscape:export-filename="/home/kaltan/src/git/orocos-toolchain/rtt/doc/xml/images/ATaskContext-services.png"
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+       inkscape:export-ydpi="100"><tspan
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@@ -2452,7 +2552,10 @@
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-       xml:space="preserve"><tspan
+       xml:space="preserve"
+       inkscape:export-filename="/home/kaltan/src/git/orocos-toolchain/rtt/doc/xml/images/ATaskContext-services.png"
+       inkscape:export-xdpi="100"
+       inkscape:export-ydpi="100"><tspan
          y="425.89716"
          x="562.21747"
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@@ -2468,18 +2571,29 @@
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        d="m 528.84709,282.93438 -93.24455,55.04871"
-       id="path3402" />
+       id="path3402"
+       inkscape:export-filename="/home/kaltan/src/git/orocos-toolchain/rtt/doc/xml/images/ATaskContext-services.png"
+       inkscape:export-xdpi="100"
+       inkscape:export-ydpi="100"
+       inkscape:connector-curvature="0" />
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        d="m 533.43664,283.25438 86.16728,54.44112"
-       id="path4291" />
+       id="path4291"
+       inkscape:export-filename="/home/kaltan/src/git/orocos-toolchain/rtt/doc/xml/images/ATaskContext-services.png"
+       inkscape:export-xdpi="100"
+       inkscape:export-ydpi="100"
+       inkscape:connector-curvature="0" />
     <text
        xml:space="preserve"
        style="font-size:24px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:125%;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;display:inline;font-family:Sans"
        x="387.9324"
        y="145.64458"
        id="text5263-8"
-       sodipodi:linespacing="125%"><tspan
+       sodipodi:linespacing="125%"
+       inkscape:export-filename="/home/kaltan/src/git/orocos-toolchain/rtt/doc/xml/images/ATaskContext-services.png"
+       inkscape:export-xdpi="100"
+       inkscape:export-ydpi="100"><tspan
          sodipodi:role="line"
          id="tspan5265-8"
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@@ -2495,7 +2609,10 @@
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        x="269.84167"
        y="646.99811"
-       id="text2810"><tspan
+       id="text2810"
+       inkscape:export-filename="/home/kaltan/src/git/orocos-toolchain/rtt/doc/xml/images/ATaskContext-services.png"
+       inkscape:export-xdpi="100"
+       inkscape:export-ydpi="100"><tspan
          sodipodi:role="line"
          id="tspan2812"
          x="269.84167"
@@ -2506,12 +2623,13 @@
      inkscape:groupmode="layer"
      id="layer5"
      inkscape:label="Basics"
-     style="display:none">
+     style="display:inline">
     <path
        style="fill:url(#linearGradient9243);fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.00379932;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;display:inline"
        sodipodi:nodetypes="ccccccc"
        id="path647"
-       d="m 112.09208,358.24044 c -0.16598,0 55.10777,0.16388 55.10777,0.16388 l 8.13351,15.23815 -8.13351,15.89351 -55.27375,-0.3276 8.13343,-15.56591 -7.96745,-15.40203 z" />
+       d="m 112.09208,358.24044 c -0.16598,0 55.10777,0.16388 55.10777,0.16388 l 8.13351,15.23815 -8.13351,15.89351 -55.27375,-0.3276 8.13343,-15.56591 -7.96745,-15.40203 z"
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@@ -2530,7 +2648,8 @@
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        d="m 593.03193,471.95743 208.98052,125.15469 35.14796,-0.13018"
        id="path9263"
-       sodipodi:nodetypes="ccc" />
+       sodipodi:nodetypes="ccc"
+       inkscape:connector-curvature="0" />
     <text
        xml:space="preserve"
        style="font-size:28px;font-style:normal;font-weight:normal;fill:#000000;fill-opacity:1;stroke:none;font-family:Bitstream Vera Sans"
@@ -2564,16 +2683,19 @@
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+       d="m 140.10615,447.29292 c -0.16598,0 55.10777,0.16388 55.10777,0.16388 l 8.13351,15.23815 -8.13351,15.89351 -55.27375,-0.3276 8.13343,-15.56591 -7.96745,-15.40203 z"
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+       d="m 821.40002,357.43203 c -0.16598,0 55.10777,0.16388 55.10777,0.16388 l 8.13351,15.23815 -8.13351,15.89351 -55.27375,-0.3276 8.13343,-15.56591 -7.96745,-15.40203 z"
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 </svg>
diff --git a/doc/xml/images/app-directories.svg b/doc/xml/images/app-directories.svg
index 88b1bffc6..dadbfe2d5 100644
--- a/doc/xml/images/app-directories.svg
+++ b/doc/xml/images/app-directories.svg
@@ -14,11 +14,11 @@
    height="1052.3622"
    id="svg6782"
    sodipodi:version="0.32"
-   inkscape:version="0.47 r22583"
+   inkscape:version="0.48.0 r9654"
    version="1.0"
    sodipodi:docname="app-directories.svg"
    inkscape:output_extension="org.inkscape.output.svg.inkscape"
-   inkscape:export-filename="/home/sspr/src/documents/EURON/2009/presentation/rtt/app-directories.png"
+   inkscape:export-filename="app-directories.png"
    inkscape:export-xdpi="200"
    inkscape:export-ydpi="200">
   <defs
@@ -2155,6 +2155,7 @@
         <dc:format>image/svg+xml</dc:format>
         <dc:type
            rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title></dc:title>
       </cc:Work>
     </rdf:RDF>
   </metadata>
diff --git a/doc/xml/images/scriptingExample.svg b/doc/xml/images/scriptingExample.svg
index bfe8461e8..c9ce74164 100644
--- a/doc/xml/images/scriptingExample.svg
+++ b/doc/xml/images/scriptingExample.svg
@@ -14,13 +14,13 @@
    height="744.09448"
    id="svg2"
    sodipodi:version="0.32"
-   inkscape:version="0.47pre4 r22446"
+   inkscape:version="0.48.0 r9654"
    version="1.0"
    sodipodi:docname="scriptingExample.svg"
    inkscape:output_extension="org.inkscape.output.svg.inkscape"
-   inkscape:export-filename="/home/sspr/src/documents/EURON/2009/presentation/rtt/scriptingExample.png"
-   inkscape:export-xdpi="200"
-   inkscape:export-ydpi="200">
+   inkscape:export-filename="scriptingExample.png"
+   inkscape:export-xdpi="100.01287"
+   inkscape:export-ydpi="100.01287">
   <defs
      id="defs4">
     <marker
@@ -54,15 +54,15 @@
      objecttolerance="10"
      inkscape:pageopacity="0.0"
      inkscape:pageshadow="2"
-     inkscape:zoom="1.3277884"
-     inkscape:cx="480.83689"
+     inkscape:zoom="1.6657763"
+     inkscape:cx="526.18109"
      inkscape:cy="368.96532"
      inkscape:document-units="px"
      inkscape:current-layer="layer1"
      showgrid="false"
-     inkscape:window-width="1680"
-     inkscape:window-height="976"
-     inkscape:window-x="0"
+     inkscape:window-width="1920"
+     inkscape:window-height="1126"
+     inkscape:window-x="1680"
      inkscape:window-y="25"
      showguides="true"
      inkscape:guide-bbox="true"
@@ -75,6 +75,7 @@
         <dc:format>image/svg+xml</dc:format>
         <dc:type
            rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title></dc:title>
       </cc:Work>
     </rdf:RDF>
   </metadata>
@@ -197,12 +198,12 @@
     <image
        sodipodi:absref="/home/kaltan/src/git/orocos-toolchain/rtt/doc/xml/images/red-car.png"
        xlink:href="red-car.png"
-       y="282.12704"
-       x="330.83295"
-       width="157.77124"
-       height="118.32841"
+       style="font-size:18px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:125%;writing-mode:lr-tb;text-anchor:middle;font-family:Bitstream Vera Sans"
        id="image12985"
-       style="font-size:18px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:125%;writing-mode:lr-tb;text-anchor:middle;font-family:Bitstream Vera Sans" />
+       height="118.32841"
+       width="157.77124"
+       x="330.83295"
+       y="282.12704" />
     <g
        id="g4088"
        transform="translate(86.684476,67.781888)">
diff --git a/doc/xml/images/small-app-package.svg b/doc/xml/images/small-app-package.svg
index 58be5898c..2eb982f8e 100644
--- a/doc/xml/images/small-app-package.svg
+++ b/doc/xml/images/small-app-package.svg
@@ -14,11 +14,11 @@
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    id="svg6782"
    sodipodi:version="0.32"
-   inkscape:version="0.47 r22583"
+   inkscape:version="0.48.0 r9654"
    version="1.0"
    sodipodi:docname="small-app-package.svg"
    inkscape:output_extension="org.inkscape.output.svg.inkscape"
-   inkscape:export-filename="/home/sspr/src/documents/EURON/2009/presentation/rtt/app-directories.png"
+   inkscape:export-filename="small-app-package.png"
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   <defs
diff --git a/orocos-rtt-config.cmake b/orocos-rtt-config.cmake
index 5a8d9d8e4..84e974b96 100644
--- a/orocos-rtt-config.cmake
+++ b/orocos-rtt-config.cmake
@@ -65,12 +65,12 @@
 ########################################################################################################################
 
 # Set the default target operating system, if unspecified
-if(NOT DEFINED OROCOS_TARGET)
-  set(DOC_STRING "The Operating System target. One of [gnulinux lxrt macosx win32 xenomai]")
-  if(NOT $ENV{OROCOS_TARGET} STREQUAL "")
-    set(OROCOS_TARGET $ENV{OROCOS_TARGET} CACHE STRING "${DOC_STRING}")
-    message( "Detected OROCOS_TARGET environment variable. Using: ${OROCOS_TARGET}")
-  else()
+set(DOC_STRING "The Operating System target. One of [gnulinux lxrt macosx win32 xenomai]")
+if(NOT $ENV{OROCOS_TARGET} STREQUAL "")
+  set(OROCOS_TARGET $ENV{OROCOS_TARGET} CACHE STRING "${DOC_STRING}" FORCE)
+  message( "Detected OROCOS_TARGET environment variable. Using: ${OROCOS_TARGET}")
+else()
+  if(NOT DEFINED OROCOS_TARGET)
     if(MSVC)
       set(OROCOS_TARGET win32    CACHE STRING "${DOC_STRING}")
     elseif(APPLE AND ${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
diff --git a/orocos-rtt.default.cmake b/orocos-rtt.default.cmake
index 9b7d42a81..9ad16c222 100644
--- a/orocos-rtt.default.cmake
+++ b/orocos-rtt.default.cmake
@@ -54,10 +54,10 @@ endif()
 # Set the target operating system. One of [lxrt gnulinux xenomai macosx win32]
 # You may leave this as-is or force a certain target by removing the if... logic.
 #
-if(NOT DEFINED OROCOS_TARGET)
+if(NOT OROCOS_TARGET )
   set(DOC_STRING "The Operating System target. One of [gnulinux lxrt macosx win32 xenomai]")
-  if (ENV{OROCOS_TARGET})
-    set(OROCOS_TARGET $ENV{OROCOS_TARGET} CACHE STRING "${DOC_STRING}")
+  if ( NOT "$ENV{OROCOS_TARGET}" STREQUAL "" )
+    set(OROCOS_TARGET "$ENV{OROCOS_TARGET}" CACHE STRING "${DOC_STRING}")
     message( "Detected OROCOS_TARGET environment variable. Using: ${OROCOS_TARGET}")
   else()
     if(MSVC)
@@ -67,6 +67,7 @@ if(NOT DEFINED OROCOS_TARGET)
     else()
       set(OROCOS_TARGET gnulinux CACHE STRING "${DOC_STRING}")
     endif()
+    message( "No OROCOS_TARGET environment variable detected. Using: ${OROCOS_TARGET}")
   endif()
 endif()
 
diff --git a/rtt/extras/FileDescriptorActivity.cpp b/rtt/extras/FileDescriptorActivity.cpp
index 36aec9c81..9c6630412 100644
--- a/rtt/extras/FileDescriptorActivity.cpp
+++ b/rtt/extras/FileDescriptorActivity.cpp
@@ -140,7 +140,9 @@ void FileDescriptorActivity::clearAllWatches()
 }
 void FileDescriptorActivity::triggerUpdateSets()
 {
-    write(m_interrupt_pipe[1], &CMD_UPDATE_SETS, 1);
+    // i works around warn_unused_result
+    int i = write(m_interrupt_pipe[1], &CMD_UPDATE_SETS, 1);
+    i = i;
 }
 bool FileDescriptorActivity::isUpdated(int fd) const
 { return FD_ISSET(fd, &m_fd_work); }
diff --git a/rtt/scripting/PeerParser.cpp b/rtt/scripting/PeerParser.cpp
index 67d253615..4fa78fc34 100644
--- a/rtt/scripting/PeerParser.cpp
+++ b/rtt/scripting/PeerParser.cpp
@@ -109,7 +109,7 @@ namespace RTT
             // last resort: browse the global service if not a single match and items in queue
             if (mcurobject == context->provides() && callqueue.size() != 0 ) {
                 mcurobject = GlobalService::Instance();
-                while ( callqueue.size() ) {
+                while ( callqueue.size() && mcurobject->hasService( callqueue.front() ) ) {
                     mcurobject = mcurobject->provides( callqueue.front() );
                     mlastobject = callqueue.front();
                     callqueue.pop();
diff --git a/rtt/types/PropertyComposition.cpp b/rtt/types/PropertyComposition.cpp
index dd752bd6c..9acfe9e8f 100644
--- a/rtt/types/PropertyComposition.cpp
+++ b/rtt/types/PropertyComposition.cpp
@@ -32,18 +32,8 @@ bool RTT::types::composePropertyBag( PropertyBag const& sourcebag, PropertyBag&
                 log(Debug) << "Used user's composition function for " << tgtprop->getName() <<":"<<tgtprop->getType()<<endlog();
                 target.ownProperty(tgtprop);
             } else {
-                // general case: user did not specify a composeType implementation, so we decompose
-                // our freshly built target, and try to update it with the source bag:
-
-                // we don't use ti->decomposeType() since that probably doesn't do what we wish
-                PropertyBag decomp;
-                if ( typeDecomposition( tgtprop->getDataSource(), decomp) && ( decomp.getType() == isbag.getType() ) && refreshProperties(decomp, isbag) ) {
-                    // note: we add tgtprop ! the decomp is just a way to get a reference to the parts of tgtprop
-                    target.ownProperty( tgtprop );
-                } else {
-                    log(Error) <<"The type '" << isbag.value().getType() <<"' did not provide a type composition function, but I need one to compose it from a PropertyBag." <<endlog();
-                    has_error = true;
-                }
+                log(Error) <<"The type '" << isbag.value().getType() <<"' did not provide a type composition function, but I need one to compose it from a PropertyBag." <<endlog();
+                has_error = true;
             }
         } else {
             if ( isbag.ready() ) {
diff --git a/rtt/types/StructTypeInfo.hpp b/rtt/types/StructTypeInfo.hpp
index fa40544e3..90753fa30 100644
--- a/rtt/types/StructTypeInfo.hpp
+++ b/rtt/types/StructTypeInfo.hpp
@@ -92,6 +92,25 @@ namespace RTT
                 log(Error) << "Wrong call to type info function " + this->getTypeName() << "'s getMember() can not process "<< item->getTypeName() <<endlog();
                 return base::DataSourceBase::shared_ptr();
             }
+
+            /**
+             * Implementation that updates result with the matching parts in source
+             * Relies on the fact that getMember returns a C++ reference to each part of \a result, which is then updated
+             * with a property found in source.
+             */
+            virtual bool composeTypeImpl(const PropertyBag& source,  typename internal::AssignableDataSource<T>::reference_t result) const {
+                // The default implementation decomposes result and refreshes it with source.
+                internal::ReferenceDataSource<T> rds(result);
+                rds.ref(); // prevent dealloc.
+                PropertyBag decomp;
+                // only try refreshProperties if decomp's type is equal to source type.
+                // update vs refresh: since it is intentional that the decomposition leads to references to parts of result,
+                // only refreshProperties() is meaningful (ie we have a one-to-one mapping). In case of sequences, this would
+                // of course not match, so this is struct specific.
+                return typeDecomposition( &rds, decomp, false) && ( decomp.getType() == source.getType() ) && refreshProperties(decomp, source);
+            }
+
+
         };
     }
 }
diff --git a/rtt/types/TemplateTypeInfo.hpp b/rtt/types/TemplateTypeInfo.hpp
index f120c472f..f7ff39eaf 100644
--- a/rtt/types/TemplateTypeInfo.hpp
+++ b/rtt/types/TemplateTypeInfo.hpp
@@ -175,7 +175,7 @@ namespace RTT
             if ( res ) {
                 res->get();
                 Logger::log() << Logger::Info << "Building "<<tname<<" Constant '"<<name<<"' with value "<< dsb->getTypeInfo()->toString(dsb) <<Logger::endl;
-                return new Constant<PropertyType>( name, res->value() );
+                return new Constant<PropertyType>( name, res->rvalue() );
             }
             else
                 return 0;
@@ -247,7 +247,7 @@ namespace RTT
         virtual std::ostream& write( std::ostream& os, base::DataSourceBase::shared_ptr in ) const {
             typename internal::DataSource<T>::shared_ptr d = boost::dynamic_pointer_cast< internal::DataSource<T> >( in );
             if ( d && use_ostream )
-                types::TypeStreamSelector<T, use_ostream>::write( os, d->value() );
+                types::TypeStreamSelector<T, use_ostream>::write( os, d->rvalue() );
             else {
 #ifdef OS_HAVE_STREAMS
                 std::string output = std::string("(")+ in->getTypeName() +")";
@@ -285,7 +285,7 @@ namespace RTT
                 return false;
 
             // last fall-back: use user supplied function:
-            if ( composeTypeImpl( pb->value(), ads->set() ) )
+            if ( composeTypeImpl( pb->rvalue(), ads->set() ) )
                 ads->updated();
             else {
                 Logger::log() <<Logger::Debug<<"Failed to compose from "<< source->getTypeName() <<Logger::endl;
@@ -331,16 +331,9 @@ namespace RTT
 
         /**
          * User, implement this function in case you want to control reading the XML data format.
-         * TemplateTypeInfo provides a default, good for most types implementation in case getMember()
-         * is implemented.
          */
         virtual bool composeTypeImpl(const PropertyBag& source,  typename internal::AssignableDataSource<T>::reference_t result) const {
-            // The default implementation decomposes result and refreshes it with source.
-            internal::ReferenceDataSource<T> rds(result);
-            rds.ref(); // prevent dealloc.
-            PropertyBag decomp;
-            // only try refreshProperties if decomp's type is equal to source type.
-            return typeDecomposition( &rds, decomp) && ( decomp.getType() == source.getType() ) && refreshProperties(decomp, source);
+            return false;
         }
 
         /**