diff --git a/src/devices/RemoteControlBoard/RemoteControlBoard.cpp b/src/devices/RemoteControlBoard/RemoteControlBoard.cpp
index 1fcf5ee135..542bcef9fa 100644
--- a/src/devices/RemoteControlBoard/RemoteControlBoard.cpp
+++ b/src/devices/RemoteControlBoard/RemoteControlBoard.cpp
@@ -1567,12 +1567,12 @@ bool RemoteControlBoard::getNumberOfMotors(int *num)
     return get1V1I(VOCAB_MOTORS_NUMBER, *num);
 }
 
-yarp::os::yarp_ret_value RemoteControlBoard::getTemperature      (int m, double* val)
+yarp_ret_value RemoteControlBoard::getTemperature      (int m, double* val)
 {
     return get1V1I1D(VOCAB_TEMPERATURE, m, val);
 }
 
-yarp::os::yarp_ret_value RemoteControlBoard::getTemperatures     (double *vals)
+yarp_ret_value RemoteControlBoard::getTemperatures     (double *vals)
 {
     return get1VDA(VOCAB_TEMPERATURES, vals);
 }
diff --git a/src/devices/RemoteControlBoard/RemoteControlBoard.h b/src/devices/RemoteControlBoard/RemoteControlBoard.h
index 68011f0da4..6e49668736 100644
--- a/src/devices/RemoteControlBoard/RemoteControlBoard.h
+++ b/src/devices/RemoteControlBoard/RemoteControlBoard.h
@@ -329,8 +329,8 @@ class RemoteControlBoard :
 
     // IMotor
     bool getNumberOfMotors(int *num) override;
-    yarp::os::yarp_ret_value getTemperature(int m, double* val) override;
-    yarp::os::yarp_ret_value getTemperatures(double *vals) override;
+    yarp::dev::yarp_ret_value getTemperature(int m, double* val) override;
+    yarp::dev::yarp_ret_value getTemperatures(double *vals) override;
     bool getTemperatureLimit (int m, double* val) override;
     bool setTemperatureLimit (int m, const double val) override;
     bool getGearboxRatio(int m, double* val) override;
diff --git a/src/devices/controlBoardRemapper/ControlBoardRemapper.cpp b/src/devices/controlBoardRemapper/ControlBoardRemapper.cpp
index 8a0a42ff28..cd4c6bbfc4 100644
--- a/src/devices/controlBoardRemapper/ControlBoardRemapper.cpp
+++ b/src/devices/controlBoardRemapper/ControlBoardRemapper.cpp
@@ -1986,7 +1986,7 @@ bool ControlBoardRemapper::getNumberOfMotors(int *num)
     return true;
 }
 
-yarp::os::yarp_ret_value ControlBoardRemapper::getTemperature(int m, double* val)
+yarp::dev::yarp_ret_value ControlBoardRemapper::getTemperature(int m, double* val)
 {
     int off=(int)remappedControlBoards.lut[m].axisIndexInSubControlBoard;
     size_t subIndex=remappedControlBoards.lut[m].subControlBoardIndex;
@@ -2006,7 +2006,7 @@ yarp::os::yarp_ret_value ControlBoardRemapper::getTemperature(int m, double* val
     return false;
 }
 
-yarp::os::yarp_ret_value ControlBoardRemapper::getTemperatures(double *vals)
+yarp::dev::yarp_ret_value ControlBoardRemapper::getTemperatures(double *vals)
 {
     bool ret=true;
     for(int l=0;l<controlledJoints;l++)
diff --git a/src/devices/controlBoardRemapper/ControlBoardRemapper.h b/src/devices/controlBoardRemapper/ControlBoardRemapper.h
index b76f96fac2..790c1b5b28 100644
--- a/src/devices/controlBoardRemapper/ControlBoardRemapper.h
+++ b/src/devices/controlBoardRemapper/ControlBoardRemapper.h
@@ -451,9 +451,9 @@ class ControlBoardRemapper :
     /* IMotor */
     bool getNumberOfMotors(int *num) override;
 
-    yarp::os::yarp_ret_value getTemperature(int m, double *val) override;
+    yarp::dev::yarp_ret_value getTemperature(int m, double *val) override;
 
-    yarp::os::yarp_ret_value getTemperatures(double *vals) override;
+    yarp::dev::yarp_ret_value getTemperatures(double *vals) override;
 
     bool getTemperatureLimit(int m, double *val) override;
 
diff --git a/src/devices/fakeMotionControl/fakeMotionControl.cpp b/src/devices/fakeMotionControl/fakeMotionControl.cpp
index d00d88f562..fd913f9bf5 100644
--- a/src/devices/fakeMotionControl/fakeMotionControl.cpp
+++ b/src/devices/fakeMotionControl/fakeMotionControl.cpp
@@ -3163,15 +3163,15 @@ bool FakeMotionControl::getNumberOfMotorsRaw(int* num)
     return true;
 }
 
-yarp::os::yarp_ret_value FakeMotionControl::getTemperatureRaw(int m, double* val)
+yarp_ret_value FakeMotionControl::getTemperatureRaw(int m, double* val)
 {
     *val = 37.5+double(m);
-    return yarp::os::yarp_ret_value(true);
+    return yarp_ret_value(true);
 }
 
-yarp::os::yarp_ret_value FakeMotionControl::getTemperaturesRaw(double *vals)
+yarp_ret_value FakeMotionControl::getTemperaturesRaw(double *vals)
 {
-    yarp::os::yarp_ret_value ret = true;
+    yarp_ret_value ret = true;
     for(int j=0; j< _njoints; j++)
     {
         ret &= getTemperatureRaw(j, &vals[j]);
diff --git a/src/devices/fakeMotionControl/fakeMotionControl.h b/src/devices/fakeMotionControl/fakeMotionControl.h
index 439c986941..5b4f79dc56 100644
--- a/src/devices/fakeMotionControl/fakeMotionControl.h
+++ b/src/devices/fakeMotionControl/fakeMotionControl.h
@@ -475,8 +475,8 @@ class FakeMotionControl :
 
     // IMotor interface
     bool getNumberOfMotorsRaw(int * num) override;
-    yarp::os::yarp_ret_value getTemperatureRaw(int m, double* val) override;
-    yarp::os::yarp_ret_value getTemperaturesRaw(double *vals) override;
+    yarp::dev::yarp_ret_value getTemperatureRaw(int m, double* val) override;
+    yarp::dev::yarp_ret_value getTemperaturesRaw(double *vals) override;
     bool getTemperatureLimitRaw(int m, double *temp) override;
     bool setTemperatureLimitRaw(int m, const double temp) override;
     bool getGearboxRatioRaw(int m, double* gearbox) override;
diff --git a/src/libYARP_dev/src/CMakeLists.txt b/src/libYARP_dev/src/CMakeLists.txt
index 959ce26d58..edfb9f89f1 100644
--- a/src/libYARP_dev/src/CMakeLists.txt
+++ b/src/libYARP_dev/src/CMakeLists.txt
@@ -115,6 +115,7 @@ set(YARP_dev_HDRS
   yarp/dev/PolyDriverDescriptor.h
   yarp/dev/PolyDriverList.h
   yarp/dev/RGBDSensorParamParser.h
+  yarp/dev/ReturnValue.h
   yarp/dev/ServiceInterfaces.h
   yarp/dev/WrapperMultiple.h
   yarp/dev/WrapperSingle.h
@@ -223,6 +224,7 @@ set(YARP_dev_SRCS
   yarp/dev/PolyDriver.cpp
   yarp/dev/PolyDriverDescriptor.cpp
   yarp/dev/PolyDriverList.cpp
+  yarp/dev/ReturnValue.cpp
   yarp/dev/RGBDSensorParamParser.cpp
   yarp/dev/WrapperMultiple.cpp
   yarp/dev/WrapperSingle.cpp
diff --git a/src/libYARP_dev/src/yarp/dev/IMotor.h b/src/libYARP_dev/src/yarp/dev/IMotor.h
index 11ac5b98ce..f7d26ce80b 100644
--- a/src/libYARP_dev/src/yarp/dev/IMotor.h
+++ b/src/libYARP_dev/src/yarp/dev/IMotor.h
@@ -9,7 +9,7 @@
 #include <yarp/os/Vocab.h>
 #include <yarp/os/Log.h>
 #include <yarp/dev/api.h>
-#include <yarp/os/ReturnValue.h>
+#include <yarp/dev/ReturnValue.h>
 
 namespace yarp::dev {
 class IMotorRaw;
@@ -42,17 +42,17 @@ class YARP_dev_API yarp::dev::IMotorRaw
      * @param val retrieved motor temperature
      * @return true/false
      */
-    virtual yarp::os::yarp_ret_value getTemperatureRaw(int m, double* val)=0;
+    virtual yarp::dev::yarp_ret_value getTemperatureRaw(int m, double* val)=0;
 
     /**
      * Get temperature of all the motors.
      * @param vals pointer to an array containing all motor temperatures
      * @return true/false
      */
-    virtual yarp::os::yarp_ret_value getTemperaturesRaw(double *vals)=0;
+    virtual yarp::dev::yarp_ret_value getTemperaturesRaw(double *vals)=0;
 
     /**
-     * Retreives the current temperature limit for a specific motor.
+     * Retrieves the current temperature limit for a specific motor.
      * The specific behavior of the motor when the temperature limit is exceeded depends on the implementation (power off recommended)
      * @param m motor number
      * @param temp the current temperature limit.
@@ -112,17 +112,17 @@ class YARP_dev_API yarp::dev::IMotor
      * @param val retrieved motor temperature
      * @return true/false
      */
-    virtual yarp::os::yarp_ret_value getTemperature(int m, double *val)=0;
+    virtual yarp::dev::yarp_ret_value getTemperature(int m, double *val)=0;
 
     /**
      * Get temperature of all the motors.
      * @param vals pointer to an array containing all motor temperatures
      * @return true/false
      */
-    virtual yarp::os::yarp_ret_value getTemperatures(double *vals)=0;
+    virtual yarp::dev::yarp_ret_value getTemperatures(double *vals)=0;
 
     /**
-     * Retreives the current temperature limit for a specific motor.
+     * Retrieves the current temperature limit for a specific motor.
      * The specific behavior of the motor when the temperature limit is exceeded depends on the implementation (power off recommended)
      * @param m motor number
      * @param temp the current temperature limit.
diff --git a/src/libYARP_dev/src/yarp/dev/ImplementMotor.cpp b/src/libYARP_dev/src/yarp/dev/ImplementMotor.cpp
index 7e1af8f448..beee9bb057 100644
--- a/src/libYARP_dev/src/yarp/dev/ImplementMotor.cpp
+++ b/src/libYARP_dev/src/yarp/dev/ImplementMotor.cpp
@@ -67,10 +67,10 @@ bool ImplementMotor::getNumberOfMotors(int *num)
     return true;
 }
 
-yarp::os::yarp_ret_value ImplementMotor::getTemperature(int m, double* value)
+yarp::dev::yarp_ret_value ImplementMotor::getTemperature(int m, double* value)
 {
     JOINTIDCHECK
-    yarp::os::yarp_ret_value ret;
+    yarp::dev::yarp_ret_value ret;
     int k=castToMapper(helper)->toHw(m);
 
     ret=imotor->getTemperatureRaw(k, value);
@@ -122,11 +122,11 @@ bool ImplementMotor::setGearboxRatio(int m, const double value)
     return ret;
 }
 
-yarp::os::yarp_ret_value ImplementMotor::getTemperatures(double *v)
+yarp::dev::yarp_ret_value ImplementMotor::getTemperatures(double *v)
 {
     yarp::dev::impl::Buffer<double> buffValues = doubleBuffManager->getBuffer();
 
-    yarp::os::yarp_ret_value ret = imotor->getTemperaturesRaw(buffValues.getData());
+    yarp::dev::yarp_ret_value ret = imotor->getTemperaturesRaw(buffValues.getData());
     for (size_t i=0; i< buffValues.getSize(); i++)
     {
         int k = castToMapper(helper)->toHw(i);
diff --git a/src/libYARP_dev/src/yarp/dev/ImplementMotor.h b/src/libYARP_dev/src/yarp/dev/ImplementMotor.h
index 12006175d3..d2b3d1c8ea 100644
--- a/src/libYARP_dev/src/yarp/dev/ImplementMotor.h
+++ b/src/libYARP_dev/src/yarp/dev/ImplementMotor.h
@@ -54,8 +54,8 @@ class YARP_dev_API yarp::dev::ImplementMotor: public IMotor
 
     bool getNumberOfMotors(int *num) override;
 
-    yarp::os::yarp_ret_value getTemperature      (int m, double* val) override;
-    yarp::os::yarp_ret_value getTemperatures     (double *vals) override;
+    yarp::dev::yarp_ret_value getTemperature      (int m, double* val) override;
+    yarp::dev::yarp_ret_value getTemperatures     (double *vals) override;
     bool getTemperatureLimit (int m, double* val) override;
     bool setTemperatureLimit (int m, const double val) override;
     bool getGearboxRatio     (int m, double* val) override;
diff --git a/src/libYARP_os/src/yarp/os/ReturnValue.cpp b/src/libYARP_dev/src/yarp/dev/ReturnValue.cpp
similarity index 97%
rename from src/libYARP_os/src/yarp/os/ReturnValue.cpp
rename to src/libYARP_dev/src/yarp/dev/ReturnValue.cpp
index 50418dd04c..5084edc768 100644
--- a/src/libYARP_os/src/yarp/os/ReturnValue.cpp
+++ b/src/libYARP_dev/src/yarp/dev/ReturnValue.cpp
@@ -3,9 +3,9 @@
  * SPDX-License-Identifier: BSD-3-Clause
  */
 
-#include <yarp/os/ReturnValue.h>
+#include <yarp/dev/ReturnValue.h>
 
-using namespace yarp::os;
+using namespace yarp::dev;
 
 yarp_ret_value::yarp_ret_value()
 {
diff --git a/src/libYARP_os/src/yarp/os/ReturnValue.h b/src/libYARP_dev/src/yarp/dev/ReturnValue.h
similarity index 90%
rename from src/libYARP_os/src/yarp/os/ReturnValue.h
rename to src/libYARP_dev/src/yarp/dev/ReturnValue.h
index 6dd98aaa53..3f0a231ce2 100644
--- a/src/libYARP_os/src/yarp/os/ReturnValue.h
+++ b/src/libYARP_dev/src/yarp/dev/ReturnValue.h
@@ -7,15 +7,15 @@
 #ifndef YARP_RET_VALUE_H
 #define YARP_RET_VALUE_H
 
-#include <yarp/os/api.h>
+#include <yarp/dev/api.h>
 #include <string>
 
-namespace yarp::os {
+namespace yarp::dev {
 
-class YARP_os_API yarp_ret_value
+class YARP_dev_API yarp_ret_value
 {
     public:
-    enum class YARP_os_API return_code
+    enum class YARP_dev_API return_code
     {
         return_value_ok = 0,
         return_value_error_generic = 1,
diff --git a/src/libYARP_dev/tests/CMakeLists.txt b/src/libYARP_dev/tests/CMakeLists.txt
index c06251f2e6..79305221db 100644
--- a/src/libYARP_dev/tests/CMakeLists.txt
+++ b/src/libYARP_dev/tests/CMakeLists.txt
@@ -8,6 +8,7 @@ target_sources(harness_dev
   PRIVATE
     MapGrid2DTest.cpp
     PolyDriverTest.cpp
+    ReturnValueTest.cpp
 )
 
 target_link_libraries(harness_dev
diff --git a/src/libYARP_os/tests/ReturnValueTest.cpp b/src/libYARP_dev/tests/ReturnValueTest.cpp
similarity index 96%
rename from src/libYARP_os/tests/ReturnValueTest.cpp
rename to src/libYARP_dev/tests/ReturnValueTest.cpp
index 90f4d848a5..201ced223d 100644
--- a/src/libYARP_os/tests/ReturnValueTest.cpp
+++ b/src/libYARP_dev/tests/ReturnValueTest.cpp
@@ -4,14 +4,14 @@
  */
 
 
-#include <yarp/os/ReturnValue.h>
+#include <yarp/dev/ReturnValue.h>
 
 #include <catch2/catch_amalgamated.hpp>
 #include <harness.h>
 
-using namespace yarp::os;
+using namespace yarp::dev;
 
-TEST_CASE("os::ReturnValue", "[yarp::os]")
+TEST_CASE("dev::ReturnValue", "[yarp::dev]")
 {
     SECTION("test block 1")
     {
diff --git a/src/libYARP_os/src/CMakeLists.txt b/src/libYARP_os/src/CMakeLists.txt
index 9b410c9172..440c3f186d 100644
--- a/src/libYARP_os/src/CMakeLists.txt
+++ b/src/libYARP_os/src/CMakeLists.txt
@@ -96,7 +96,6 @@ set(YARP_os_HDRS
   yarp/os/Random.h
   yarp/os/ResourceFinder.h
   yarp/os/ResourceFinderOptions.h
-  yarp/os/ReturnValue.h
   yarp/os/RFModule.h
   yarp/os/RFPlugin.h
   yarp/os/RosNameSpace.h
@@ -211,7 +210,6 @@ set(YARP_os_SRCS
   yarp/os/Random.cpp
   yarp/os/ResourceFinder.cpp
   yarp/os/ResourceFinderOptions.cpp
-  yarp/os/ReturnValue.cpp
   yarp/os/RFModule.cpp
   yarp/os/RFPlugin.cpp
   yarp/os/RosNameSpace.cpp
diff --git a/src/libYARP_os/tests/CMakeLists.txt b/src/libYARP_os/tests/CMakeLists.txt
index 545b92e5d0..95405be88f 100644
--- a/src/libYARP_os/tests/CMakeLists.txt
+++ b/src/libYARP_os/tests/CMakeLists.txt
@@ -28,7 +28,6 @@ target_sources(harness_os PRIVATE
   PropertyTest.cpp
   PublisherTest.cpp
   ResourceFinderTest.cpp
-  ReturnValueTest.cpp
   RFModuleTest.cpp
   RouteTest.cpp
   SemaphoreTest.cpp