diff --git a/src/devices/frameTransformClient/CMakeLists.txt b/src/devices/frameTransformClient/CMakeLists.txt
index 6b34adfb633..538556d9bda 100644
--- a/src/devices/frameTransformClient/CMakeLists.txt
+++ b/src/devices/frameTransformClient/CMakeLists.txt
@@ -4,6 +4,22 @@
 # This software may be modified and distributed under the terms of the
 # BSD-3-Clause license. See the accompanying LICENSE file for details.
 
+include(CMakeRC)
+
+cmrc_add_resource_library(frameTransformRC
+                          NAMESPACE frameTransformRC
+                          WHENCE robotinterface_xml
+                          PREFIX config_xml
+                          robotinterface_xml/ftc_full_ros.xml
+                          robotinterface_xml/ftc_pub_ros.xml
+                          robotinterface_xml/ftc_ros.xml
+                          robotinterface_xml/ftc_sub_ros.xml
+                          robotinterface_xml/ftc_pub_yarp_only.xml
+                          robotinterface_xml/ftc_sub_yarp_only.xml
+                          robotinterface_xml/ftc_yarp_only.xml
+                          robotinterface_xml/ftc_yarp_only_single_client.xml
+                          robotinterface_xml/ftc_local_only.xml)
+
 yarp_prepare_plugin(frameTransformClient
                     CATEGORY device
                     TYPE FrameTransformClient
@@ -25,6 +41,8 @@ if(NOT SKIP_frameTransformClient)
                                                           YARP::YARP_dev
                                                           YARP::YARP_math
                                                           YARP::YARP_robotinterface)
+  target_sources(yarp_frameTransformClient PRIVATE $<TARGET_OBJECTS:frameTransformRC>)
+  target_include_directories(yarp_frameTransformClient PRIVATE $<TARGET_PROPERTY:frameTransformRC,INTERFACE_INCLUDE_DIRECTORIES>)
   list(APPEND YARP_${YARP_PLUGIN_MASTER}_PRIVATE_DEPS YARP_os
                                                       YARP_sig
                                                       YARP_dev
diff --git a/src/devices/frameTransformClient/frameTransformClient.cpp b/src/devices/frameTransformClient/frameTransformClient.cpp
index 39362ca2c61..5877c40cb03 100644
--- a/src/devices/frameTransformClient/frameTransformClient.cpp
+++ b/src/devices/frameTransformClient/frameTransformClient.cpp
@@ -23,6 +23,9 @@
 #include <yarp/math/Math.h>
 #include <mutex>
 
+#include <cmrc/cmrc.hpp>
+CMRC_DECLARE(frameTransformRC);
+
  /*! \file FrameTransformClient.cpp */
 
 //example: yarpdev --device frameTransformClient --local /transformClient --remote /transformServer
@@ -232,15 +235,22 @@ bool FrameTransformClient::open(yarp::os::Searchable &config)
     cfg.fromString(config.toString());
 
     string configuration_to_open;
-    if(cfg.check("filexml_option")) { configuration_to_open=cfg.find("filexml_option").toString();}
+    string innerFilePath="config_xml/ftc_local_only.xml";
+    auto fs = cmrc::frameTransformRC::get_filesystem();
+    if(cfg.check("filexml_option")) { innerFilePath="config_xml/"+cfg.find("filexml_option").toString();}
     cfg.unput("filexml_option");
+    auto xmlFile = fs.open(innerFilePath);
+    for(const auto& lemma : xmlFile)
+    {
+        configuration_to_open += lemma;
+    }
 
     string m_local_rpcUser = "/ftClient/rpc";
     if (cfg.check("local_rpc")) { m_local_rpcUser=cfg.find("local_rpc").toString();}
     cfg.unput("local_rpc");
 
     yarp::robotinterface::experimental::XMLReader reader;
-    yarp::robotinterface::experimental::XMLReaderResult result = reader.getRobotFromFile(configuration_to_open, cfg);
+    yarp::robotinterface::experimental::XMLReaderResult result = reader.getRobotFromString(configuration_to_open, cfg);
     yCAssert(FRAMETRANSFORMCLIENT, result.parsingIsSuccessful);
 
     m_robot = std::move(result.robot); // FIXME std::move non serve
diff --git a/src/devices/frameTransformClient/robotinterface_xml/ftc_full_ros.xml b/src/devices/frameTransformClient/robotinterface_xml/ftc_full_ros.xml
new file mode 100644
index 00000000000..dae15c33b7f
--- /dev/null
+++ b/src/devices/frameTransformClient/robotinterface_xml/ftc_full_ros.xml
@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<robot name="frameTransformClient" build="2" portprefix="frameTransformClient" xmlns:xi="http://www.w3.org/2001/XInclude">
+    <devices>
+        <!-- **************** YARP NWC **************** -->
+        <device name="ftSet_nwc_yarp" type="frameTransformSet_nwc_yarp">
+            <param extern-name="ftSet_client_port" name="rpc_port_client"> /frameTransformSet/clientRPC </param>
+            <param extern-name="ftSet_server_port" name="rpc_port_server"> /frameTransformSet/serverRPC </param>
+        </device>
+        <device name="ftGet_nwc_yarp" type="frameTransformGet_nwc_yarp">
+            <param extern-name="ftGet_client_port" name="rpc_port_client"> /frameTransformGet/clientRPC </param>
+            <param extern-name="ftGet_server_port" name="rpc_port_server"> /frameTransformGet/serverRPC </param>
+        </device>
+        <!-- **************** ROS NWC **************** -->
+        <device name="ftSet_nwc_ros" type="frameTransformSet_nwc_ros">
+            <group name="GENERAL">
+                <param extern-name="ftSet_period" name="period"> 0.01 </param>
+                <param extern-name="ftSet_refInt" name="refresh_interval"> 0.1 </param>
+                <param extern-name="ftSet_asyncPub" name="asynch_pub"> 1 </param>
+            </group>
+            <group name="ROS">
+                <param extern-name="ftSet_ftTopic" name="ft_topic"> /tf </param>
+                <param extern-name="ftSet_ftTopicStatic" name="ft_topic_static"> /tf_static </param>
+                <param extern-name="ftSet_ftNode" name="ft_node"> /tfNodeSet </param>
+            </group>
+        </device>
+        <device name="ftGet_nwc_ros" type="frameTransformGet_nwc_ros">
+            <group name="GENERAL">
+                <param extern-name="ftGet_period" name="period"> 0.01 </param>
+                <param extern-name="ftGet_refInt" name="refresh_interval"> 0.1 </param>
+            </group>
+            <group name="ROS">
+                <param extern-name="ftGet_ftTopic" name="ft_topic"> /tf </param>
+                <param extern-name="ftGet_ftTopicStatic" name="ft_topic_static"> /tf_static </param>
+                <param extern-name="ftGet_ftNode" name="ft_node"> /tfNodeGet </param>
+            </group>
+        </device>
+        <!-- **************** STORAGE **************** -->
+        <device name="ftc_storage" type="frameTransformStorage">
+            <action phase="startup" level="5" type="attach">
+                <paramlist name="networks">
+                    <elem name="subdevicegetmpx"> ftc_mpxGet </elem>
+                </paramlist>
+            </action>
+            <action phase="shutdown" level="5" type="detach" />
+        </device>
+        <!-- **************** MULTIPLEXER **************** -->
+        <device name="ftc_mpxSet" type="frameTransformSetMultiplexer">
+            <action phase="startup" level="5" type="attach">
+                <paramlist name="networks">
+                    <elem name="subdevicestorage"> ftc_storage </elem>
+                    <elem name="subdevicesetyarp"> ftSet_nwc_yarp </elem>
+                    <elem name="subdevicesetros"> ftSet_nwc_ros </elem>
+                </paramlist>
+            </action>
+            <action phase="shutdown" level="5" type="detach" />
+        </device>
+        <device name="ftc_mpxGet" type="frameTransformGetMultiplexer">
+            <action phase="startup" level="5" type="attach">
+                <paramlist name="networks">
+                    <elem name="subdevicegetyarp"> ftGet_nwc_yarp </elem>
+                    <elem name="subdevicegetros"> ftGet_nwc_ros </elem>
+                </paramlist>
+            </action>
+            <action phase="shutdown" level="5" type="detach" />
+        </device>
+    </devices>
+</robot>
diff --git a/src/devices/frameTransformClient/robotinterface_xml/ftc_local_only.xml b/src/devices/frameTransformClient/robotinterface_xml/ftc_local_only.xml
new file mode 100644
index 00000000000..eb8ce19b5b6
--- /dev/null
+++ b/src/devices/frameTransformClient/robotinterface_xml/ftc_local_only.xml
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<robot name="ftc_local_only" build="2" portprefix="test" xmlns:xi="http://www.w3.org/2001/XInclude">
+    <devices>
+        <device name="ftc_storage" type="frameTransformStorage">
+        </device>
+    </devices>
+</robot>
diff --git a/src/devices/frameTransformClient/robotinterface_xml/ftc_pub_ros.xml b/src/devices/frameTransformClient/robotinterface_xml/ftc_pub_ros.xml
new file mode 100644
index 00000000000..230cea8ee59
--- /dev/null
+++ b/src/devices/frameTransformClient/robotinterface_xml/ftc_pub_ros.xml
@@ -0,0 +1,23 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<robot name="frameTransformClient" build="2" portprefix="frameTransformClient" xmlns:xi="http://www.w3.org/2001/XInclude">
+    <devices>
+        <!-- **************** ROS NWC **************** -->
+        <device name="ftSet_nwc_ros" type="frameTransformSet_nwc_ros">
+            <group name="GENERAL">
+                <param extern-name="ftSet_period" name="period"> 0.01 </param>
+                <param extern-name="ftSet_refInt" name="refresh_interval"> 0.1 </param>
+                <param extern-name="ftSet_asyncPub" name="asynch_pub"> 1 </param>
+            </group>
+            <group name="ROS">
+                <param extern-name="ftSet_ftTopic" name="ft_topic"> /tf </param>
+                <param extern-name="ftSet_ftTopicStatic" name="ft_topic_static"> /tf_static </param>
+                <param extern-name="ftSet_ftNode" name="ft_node"> /tfNodeSet </param>
+            </group>
+        </device>
+        <!-- **************** STORAGE **************** -->
+        <device name="ftc_storage" type="frameTransformStorage">
+        </device>
+    </devices>
+</robot>
diff --git a/src/devices/frameTransformClient/robotinterface_xml/ftc_pub_yarp_only.xml b/src/devices/frameTransformClient/robotinterface_xml/ftc_pub_yarp_only.xml
new file mode 100644
index 00000000000..d22171070fa
--- /dev/null
+++ b/src/devices/frameTransformClient/robotinterface_xml/ftc_pub_yarp_only.xml
@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<robot name="frameTransformClient" build="2" portprefix="frameTransformClient" xmlns:xi="http://www.w3.org/2001/XInclude">
+    <devices>
+        <!-- **************** YARP NWC **************** -->
+        <device name="ftSet_nwc_yarp" type="frameTransformSet_nwc_yarp">
+            <param extern-name="ftSet_client_port" name="rpc_port_client"> /frameTransformSet/clientRPC </param>
+            <param extern-name="ftSet_server_port" name="rpc_port_server"> /frameTransformSet/serverRPC </param>
+        </device>
+        <!-- **************** STORAGE **************** -->
+        <device name="ftc_storage" type="frameTransformStorage">
+        </device>
+    </devices>
+</robot>
diff --git a/src/devices/frameTransformClient/robotinterface_xml/ftc_ros.xml b/src/devices/frameTransformClient/robotinterface_xml/ftc_ros.xml
new file mode 100644
index 00000000000..25dbf8dc595
--- /dev/null
+++ b/src/devices/frameTransformClient/robotinterface_xml/ftc_ros.xml
@@ -0,0 +1,50 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<robot name="frameTransformClient" build="2" portprefix="frameTransformClient" xmlns:xi="http://www.w3.org/2001/XInclude">
+    <devices>
+        <!-- **************** ROS NWC **************** -->
+        <device name="ftSet_nwc_ros" type="frameTransformSet_nwc_ros">
+            <group name="GENERAL">
+                <param extern-name="ftSet_period" name="period"> 0.01 </param>
+                <param extern-name="ftSet_refInt" name="refresh_interval"> 0.1 </param>
+                <param extern-name="ftSet_asyncPub" name="asynch_pub"> 1 </param>
+            </group>
+            <group name="ROS">
+                <param extern-name="ftSet_ftTopic" name="ft_topic"> /tf </param>
+                <param extern-name="ftSet_ftTopicStatic" name="ft_topic_static"> /tf_static </param>
+                <param extern-name="ftSet_ftNode" name="ft_node"> /tfNodeSet </param>
+            </group>
+        </device>
+        <device name="ftGet_nwc_ros" type="frameTransformGet_nwc_ros">
+            <group name="GENERAL">
+                <param extern-name="ftGet_period" name="period"> 0.01 </param>
+                <param extern-name="ftGet_refInt" name="refresh_interval"> 0.1 </param>
+            </group>
+            <group name="ROS">
+                <param extern-name="ftGet_ftTopic" name="ft_topic"> /tf </param>
+                <param extern-name="ftGet_ftTopicStatic" name="ft_topic_static"> /tf_static </param>
+                <param extern-name="ftGet_ftNode" name="ft_node"> /tfNodeGet </param>
+            </group>
+        </device>
+        <!-- **************** STORAGE **************** -->
+        <device name="ftc_storage" type="frameTransformStorage">
+            <action phase="startup" level="5" type="attach">
+                <paramlist name="networks">
+                    <elem name="subdevicegetros"> ftGet_nwc_ros </elem>
+                </paramlist>
+            </action>
+            <action phase="shutdown" level="5" type="detach" />
+        </device>
+        <!-- **************** MULTIPLEXER **************** -->
+        <device name="ftc_mpxSet" type="frameTransformSetMultiplexer">
+            <action phase="startup" level="5" type="attach">
+                <paramlist name="networks">
+                    <elem name="subdevicestorage"> ftc_storage </elem>
+                    <elem name="subdevicesetros"> ftSet_nwc_ros </elem>
+                </paramlist>
+            </action>
+            <action phase="shutdown" level="5" type="detach" />
+        </device>
+    </devices>
+</robot>
diff --git a/src/devices/frameTransformClient/robotinterface_xml/ftc_sub_ros.xml b/src/devices/frameTransformClient/robotinterface_xml/ftc_sub_ros.xml
new file mode 100644
index 00000000000..66d03b2714e
--- /dev/null
+++ b/src/devices/frameTransformClient/robotinterface_xml/ftc_sub_ros.xml
@@ -0,0 +1,28 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<robot name="frameTransformClient" build="2" portprefix="frameTransformClient" xmlns:xi="http://www.w3.org/2001/XInclude">
+    <devices>
+        <!-- **************** ROS NWC **************** -->
+        <device name="ftGet_nwc_ros" type="frameTransformGet_nwc_ros">
+            <group name="GENERAL">
+                <param extern-name="ftGet_period" name="period"> 0.01 </param>
+                <param extern-name="ftGet_refInt" name="refresh_interval"> 0.1 </param>
+            </group>
+            <group name="ROS">
+                <param extern-name="ftGet_ftTopic" name="ft_topic"> /tf </param>
+                <param extern-name="ftGet_ftTopicStatic" name="ft_topic_static"> /tf_static </param>
+                <param extern-name="ftGet_ftNode" name="ft_node"> /tfNodeGet </param>
+            </group>
+        </device>
+        <!-- **************** STORAGE **************** -->
+        <device name="ftc_storage" type="frameTransformStorage">
+            <action phase="startup" level="5" type="attach">
+                <paramlist name="networks">
+                    <elem name="subdevicegetros"> ftGet_nwc_ros </elem>
+                </paramlist>
+            </action>
+            <action phase="shutdown" level="5" type="detach" />
+        </device>
+    </devices>
+</robot>
diff --git a/src/devices/frameTransformClient/robotinterface_xml/ftc_sub_yarp_only.xml b/src/devices/frameTransformClient/robotinterface_xml/ftc_sub_yarp_only.xml
new file mode 100644
index 00000000000..d284c981ba6
--- /dev/null
+++ b/src/devices/frameTransformClient/robotinterface_xml/ftc_sub_yarp_only.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<robot name="frameTransformClient" build="2" portprefix="frameTransformClient" xmlns:xi="http://www.w3.org/2001/XInclude">
+    <devices>
+        <!-- **************** YARP NWC **************** -->
+        <device name="ftGet_nwc_yarp" type="frameTransformGet_nwc_yarp">
+            <param extern-name="ftGet_client_port" name="rpc_port_client"> /frameTransformGet/clientRPC </param>
+            <param extern-name="ftGet_server_port" name="rpc_port_server"> /frameTransformGet/serverRPC </param>
+        </device>
+        <!-- **************** STORAGE **************** -->
+        <device name="ftc_storage" type="frameTransformStorage">
+            <action phase="startup" level="5" type="attach">
+                <paramlist name="networks">
+                    <elem name="subdevicegetyarp"> ftGet_nwc_yarp </elem>
+                </paramlist>
+            </action>
+            <action phase="shutdown" level="5" type="detach" />
+        </device>
+    </devices>
+</robot>
diff --git a/src/devices/frameTransformClient/robotinterface_xml/ftc_yarp_only.xml b/src/devices/frameTransformClient/robotinterface_xml/ftc_yarp_only.xml
new file mode 100644
index 00000000000..9f62ce5b64b
--- /dev/null
+++ b/src/devices/frameTransformClient/robotinterface_xml/ftc_yarp_only.xml
@@ -0,0 +1,35 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<robot name="frameTransformClient" build="2" portprefix="frameTransformClient" xmlns:xi="http://www.w3.org/2001/XInclude">
+    <devices>
+        <!-- **************** YARP NWC **************** -->
+        <device name="ftSet_nwc_yarp" type="frameTransformSet_nwc_yarp">
+            <param extern-name="ftSet_client_port" name="rpc_port_client"> /frameTransformSet/clientRPC </param>
+            <param extern-name="ftSet_server_port" name="rpc_port_server"> /frameTransformSet/serverRPC </param>
+        </device>
+        <device name="ftGet_nwc_yarp" type="frameTransformGet_nwc_yarp">
+            <param extern-name="ftGet_client_port" name="rpc_port_client"> /frameTransformGet/clientRPC </param>
+            <param extern-name="ftGet_server_port" name="rpc_port_server"> /frameTransformGet/serverRPC </param>
+        </device>
+        <!-- **************** STORAGE **************** -->
+        <device name="ftc_storage" type="frameTransformStorage">
+            <action phase="startup" level="5" type="attach">
+                <paramlist name="networks">
+                    <elem name="subdevicegetyarp"> ftGet_nwc_yarp </elem>
+                </paramlist>
+            </action>
+            <action phase="shutdown" level="5" type="detach" />
+        </device>
+        <!-- **************** MULTIPLEXER **************** -->
+        <device name="ftc_mpxSet" type="frameTransformSetMultiplexer">
+            <action phase="startup" level="5" type="attach">
+                <paramlist name="networks">
+                    <elem name="subdevicestorage"> ftc_storage </elem>
+                    <elem name="subdevicesetyarp"> ftSet_nwc_yarp </elem>
+                </paramlist>
+            </action>
+            <action phase="shutdown" level="5" type="detach" />
+        </device>
+    </devices>
+</robot>
diff --git a/src/devices/frameTransformClient/robotinterface_xml/ftc_yarp_only_single_client.xml b/src/devices/frameTransformClient/robotinterface_xml/ftc_yarp_only_single_client.xml
new file mode 100644
index 00000000000..04abd15d331
--- /dev/null
+++ b/src/devices/frameTransformClient/robotinterface_xml/ftc_yarp_only_single_client.xml
@@ -0,0 +1,22 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<robot name="frameTransformClient" build="2" portprefix="frameTransformClient" xmlns:xi="http://www.w3.org/2001/XInclude">
+    <devices>
+        <!-- **************** STORAGE **************** -->
+        <device name="ftc_storage" type="frameTransformStorage">
+        </device>
+        <!-- **************** YARP NWS **************** -->
+        <device name="ftSet_nws_yarp" type="frameTransformSet_nws_yarp">
+            <group name="GENERAL">
+                <param extern-name="ftSet_rpc_port" name="rpc_port"> /frameTransformSet/rpc </param>
+            </group>
+            <action phase="startup" level="5" type="attach">
+                <paramlist name="networks">
+                    <elem name="subdevicestorage"> ftc_storage </elem>
+                </paramlist>
+            </action>
+            <action phase="shutdown" level="5" type="detach" />
+        </device>
+    </devices>
+</robot>