diff --git a/src/devices/frameTransformGet_nwc_ros2/frameTransformGet_nwc_ros2.cpp b/src/devices/frameTransformGet_nwc_ros2/frameTransformGet_nwc_ros2.cpp
index cf8517d..2e2c622 100644
--- a/src/devices/frameTransformGet_nwc_ros2/frameTransformGet_nwc_ros2.cpp
+++ b/src/devices/frameTransformGet_nwc_ros2/frameTransformGet_nwc_ros2.cpp
@@ -55,16 +55,20 @@ bool FrameTransformGet_nwc_ros2::close()
     return true;
 }
 
-bool FrameTransformGet_nwc_ros2::getTransforms(std::vector<yarp::math::FrameTransform>& transforms) const
+yarp::dev::ReturnValue FrameTransformGet_nwc_ros2::getTransforms(std::vector<yarp::math::FrameTransform>& transforms) const
 {
     std::lock_guard<std::mutex> lock(m_trf_mutex);
     if(!m_ftContainer.checkAndRemoveExpired())
     {
-        yCError(FRAMETRANSFORGETNWCROS2,"Unable to remove expired transforms");
-        return false;
+        yCError(FRAMETRANSFORGETNWCROS2,"Unable to remove expired transforms.");
+        return yarp::dev::ReturnValue::return_code::return_value_error_generic;
     }
-    m_ftContainer.getTransforms(transforms);
-    return true;
+    auto ret = m_ftContainer.getTransforms(transforms);
+    if(!ret)
+    {
+        yCError(FRAMETRANSFORGETNWCROS2,"Unable to get transforms. Error: %s",ret.toString().c_str());
+    }
+    return ret;
 }
 
 void FrameTransformGet_nwc_ros2::frameTransformTimedGet_callback(const tf2_msgs::msg::TFMessage::SharedPtr msg)
diff --git a/src/devices/frameTransformGet_nwc_ros2/frameTransformGet_nwc_ros2.h b/src/devices/frameTransformGet_nwc_ros2/frameTransformGet_nwc_ros2.h
index 6bf2d94..ae5bc29 100644
--- a/src/devices/frameTransformGet_nwc_ros2/frameTransformGet_nwc_ros2.h
+++ b/src/devices/frameTransformGet_nwc_ros2/frameTransformGet_nwc_ros2.h
@@ -74,7 +74,7 @@ class FrameTransformGet_nwc_ros2 :
     Ros2Spinner*            m_spinner{nullptr};
 
     //IFrameTransformStorageGet interface
-    bool getTransforms(std::vector<yarp::math::FrameTransform>& transforms) const override;
+    yarp::dev::ReturnValue getTransforms(std::vector<yarp::math::FrameTransform>& transforms) const override;
 
     //Subscription callback
     void frameTransformTimedGet_callback(const tf2_msgs::msg::TFMessage::SharedPtr msg);
diff --git a/src/devices/frameTransformSet_nwc_ros2/frameTransformSet_nwc_ros2.cpp b/src/devices/frameTransformSet_nwc_ros2/frameTransformSet_nwc_ros2.cpp
index fd176f5..d1b8e77 100644
--- a/src/devices/frameTransformSet_nwc_ros2/frameTransformSet_nwc_ros2.cpp
+++ b/src/devices/frameTransformSet_nwc_ros2/frameTransformSet_nwc_ros2.cpp
@@ -65,42 +65,44 @@ void FrameTransformSet_nwc_ros2::run()
     return;
 }
 
-bool FrameTransformSet_nwc_ros2::setTransforms(const std::vector<yarp::math::FrameTransform>& transforms)
+yarp::dev::ReturnValue FrameTransformSet_nwc_ros2::setTransforms(const std::vector<yarp::math::FrameTransform>& transforms)
 {
     std::lock_guard<std::mutex> lock(m_trf_mutex);
-    if(!m_ftContainer.setTransforms(transforms))
+    yarp::dev::ReturnValue ret = m_ftContainer.setTransforms(transforms);
+    if(!ret)
     {
-        yCError(FRAMETRANSFORMSETNWCROS2,"Unable to set transforms");
-        return false;
+        yCError(FRAMETRANSFORMSETNWCROS2,"Unable to set transforms. Error: %s",ret.toString().c_str());
+        return ret;
     }
     if(m_GENERAL_asynch_pub)
     {
         if (!publishFrameTransforms())
         {
             yCError(FRAMETRANSFORMSETNWCROS2,"Error while publishing transforms");
-            return false;
+            return yarp::dev::ReturnValue::return_code::return_value_error_generic;
         }
     }
-    return true;
+    return yarp::dev::ReturnValue::return_code::return_value_ok;
 }
 
-bool FrameTransformSet_nwc_ros2::setTransform(const yarp::math::FrameTransform& t)
+yarp::dev::ReturnValue FrameTransformSet_nwc_ros2::setTransform(const yarp::math::FrameTransform& t)
 {
     std::lock_guard<std::mutex> lock(m_trf_mutex);
-    if(!m_ftContainer.setTransform(t))
+    yarp::dev::ReturnValue ret = m_ftContainer.setTransform(t);
+    if(!ret)
     {
-        yCError(FRAMETRANSFORMSETNWCROS2,"Unable to set transform");
-        return false;
+        yCError(FRAMETRANSFORMSETNWCROS2,"Unable to set transform. Error: %s",ret.toString().c_str());
+        return ret;
     }
     if(m_GENERAL_asynch_pub)
     {
         if (!publishFrameTransforms())
         {
             yCError(FRAMETRANSFORMSETNWCROS2,"Error while publishing transforms");
-            return false;
+            return yarp::dev::ReturnValue::return_code::return_value_error_generic;
         }
     }
-    return true;
+    yarp::dev::ReturnValue::return_code::return_value_ok;
 }
 
 void FrameTransformSet_nwc_ros2::ros2TimeFromYarp(double yarpTime, builtin_interfaces::msg::Time& ros2Time)
@@ -179,16 +181,16 @@ bool FrameTransformSet_nwc_ros2::publishFrameTransforms()
     return true;
 }
 
-bool FrameTransformSet_nwc_ros2::deleteTransform(std::string t1, std::string t2)
+yarp::dev::ReturnValue FrameTransformSet_nwc_ros2::deleteTransform(std::string t1, std::string t2)
 {
     // Not yet implemented
     yCError(FRAMETRANSFORMSETNWCROS2, "deleteTransform not yet implemented");
-    return false;
+    return yarp::dev::ReturnValue::return_code::return_value_error_not_implemented_by_device;
 }
 
-bool FrameTransformSet_nwc_ros2::clearAll()
+yarp::dev::ReturnValue FrameTransformSet_nwc_ros2::clearAll()
 {
     // Not yet implemented
     yCError(FRAMETRANSFORMSETNWCROS2, "clearAll not yet implemented");
-    return false;
+    return yarp::dev::ReturnValue::return_code::return_value_error_not_implemented_by_device;
 }
diff --git a/src/devices/frameTransformSet_nwc_ros2/frameTransformSet_nwc_ros2.h b/src/devices/frameTransformSet_nwc_ros2/frameTransformSet_nwc_ros2.h
index 1adac06..ef83e30 100644
--- a/src/devices/frameTransformSet_nwc_ros2/frameTransformSet_nwc_ros2.h
+++ b/src/devices/frameTransformSet_nwc_ros2/frameTransformSet_nwc_ros2.h
@@ -69,10 +69,10 @@ class FrameTransformSet_nwc_ros2 :
     void run() override;
 
     //IFrameTransformStorageSet interface
-    bool setTransforms(const std::vector<yarp::math::FrameTransform>& transforms) override;
-    bool setTransform(const yarp::math::FrameTransform& transform) override;
-    bool deleteTransform(std::string t1, std::string t2) override;
-    bool clearAll() override;
+    yarp::dev::ReturnValue setTransforms(const std::vector<yarp::math::FrameTransform>& transforms) override;
+    yarp::dev::ReturnValue setTransform(const yarp::math::FrameTransform& transform) override;
+    yarp::dev::ReturnValue deleteTransform(std::string t1, std::string t2) override;
+    yarp::dev::ReturnValue clearAll() override;
 
     //own
     bool publishFrameTransforms();