diff --git a/CMakeLists.txt b/CMakeLists.txt
index e4180625fa8080f7a099a60a444c09ebf5c585f0..7aeff62d134fc1f1400dbd38985a8b16a08ad5f6 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -167,9 +167,5 @@ install(FILES
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/meshes/hyq
   )
   
-install(DIRECTORY data/hyq_description
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/../
-  )
-  
 SETUP_PROJECT_FINALIZE()
 
diff --git a/include/hpp/corbaserver/rbprm/server.hh b/include/hpp/corbaserver/rbprm/server.hh
index 78aece190190f0dc118f4682905913c853dd0cd4..93dcd157206a5f79957e8e7556fa94559da2a690 100755
--- a/include/hpp/corbaserver/rbprm/server.hh
+++ b/include/hpp/corbaserver/rbprm/server.hh
@@ -31,7 +31,7 @@ namespace hpp {
     class HPP_RBPRM_CORBA_DLLAPI Server
     {
     public:
-      Server (int argc, char *argv[], bool multiThread = false,
+      Server (int argc, const char *argv[], bool multiThread = false,
           const std::string& poaName = "child");
       ~Server ();
       /// Set planner that will be controlled by server
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 9dfcbbbe5bc5c125f8f9c937c9d7688f8a1eba27..c66276a4fe6a4deafd3b3fd0f41fc2c3ef3bf54f 100755
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -30,15 +30,21 @@ OMNIIDL_INCLUDE_DIRECTORIES(
 
 INCLUDE_DIRECTORIES(${CMAKE_BINARY_DIR}/src)
 FOREACH(IDL ${IDL_SOURCES})
-  GENERATE_IDL_FILE (${IDL}
+  GENERATE_IDL_CPP (${IDL}
     ${CMAKE_SOURCE_DIR}/idl/hpp/corbaserver/rbprm
-    )
+		)
+  GENERATE_IDL_PYTHON (${IDL}
+	    ${CMAKE_SOURCE_DIR}/idl/hpp/corbaserver/rbprm
+		)
 ENDFOREACH()
 
 FOREACH(IDL ${HPP_CORBASERVER_IDL_SOURCES})
-  GENERATE_IDL_FILE (${IDL}
+  GENERATE_IDL_CPP (${IDL}
     ${HPP_CORBASERVER_DATAROOTDIR}/idl/hpp/corbaserver
-    )
+		)
+	GENERATE_IDL_PYTHON (${IDL}
+	    ${HPP_CORBASERVER_DATAROOTDIR}/idl/hpp/corbaserver
+		)
 ENDFOREACH()
 
 ADD_LIBRARY(${LIBRARY_NAME} SHARED
diff --git a/src/hpp-rbprm-corba.cc b/src/hpp-rbprm-corba.cc
index cd394ce252c237f03323a7336b005a7cdb659905..662ce3095a07b1de393b507a905aa62e6e6f88b5 100755
--- a/src/hpp-rbprm-corba.cc
+++ b/src/hpp-rbprm-corba.cc
@@ -27,7 +27,7 @@ int main (int argc, char* argv [])
     hpp::core::ProblemSolverPtr_t problemSolver (hpp::core::ProblemSolver::create());
     CorbaServer corbaServer (problemSolver, argc,
                const_cast<const char**> (argv), true);
-    RbprmServer rbprmServer (argc, argv, true, "rbprmChild");
+    RbprmServer rbprmServer (argc, const_cast<const char**> (argv), true, "rbprmChild");
     rbprmServer.setProblemSolver (problemSolver);
 
     corbaServer.startCorbaServer ();
diff --git a/src/server.cc b/src/server.cc
index 8698d6f08455df7d8a84e7ad222edc57a0965406..ac6b10c160b061304770de5c001557a50952b798 100755
--- a/src/server.cc
+++ b/src/server.cc
@@ -23,7 +23,7 @@
 
 namespace hpp {
   namespace rbprm {
-    Server::Server (int argc, char *argv[], bool multiThread,
+    Server::Server (int argc, const char *argv[], bool multiThread,
             const std::string& poaName) :
       rbprmBuilder_ (new corba::Server <impl::RbprmBuilder>
           (argc, argv, multiThread, poaName)) {}