diff --git a/VirtualRobot/Nodes/CameraSensorFactory.cpp b/VirtualRobot/Nodes/CameraSensorFactory.cpp
index af1c6119cf67df557166cb20f988626b95553120..a8293e0f701577cfa52a50f85807d21d88e9336b 100644
--- a/VirtualRobot/Nodes/CameraSensorFactory.cpp
+++ b/VirtualRobot/Nodes/CameraSensorFactory.cpp
@@ -32,7 +32,7 @@ namespace VirtualRobot
         return Sensor;
     }
 
-    SensorPtr CameraSensorFactory::createSensor(GraspableSensorizedObjectPtr node, rapidxml::xml_node<char>* sensorXMLNode, BaseIO::RobotDescription loadMode, const std::string basePath) const
+    SensorPtr CameraSensorFactory::createSensor(GraspableSensorizedObjectPtr node, const rapidxml::xml_node<char>* sensorXMLNode, BaseIO::RobotDescription loadMode, const std::string basePath) const
     {
         THROW_VR_EXCEPTION_IF(!sensorXMLNode, "NULL data");
         THROW_VR_EXCEPTION_IF(!node, "NULL data");
diff --git a/VirtualRobot/Nodes/CameraSensorFactory.h b/VirtualRobot/Nodes/CameraSensorFactory.h
index e7afc729be870cede1b1b73d2e23610b97b0dd3b..291e56abec23e06414ad0fd9de0c939bae773a07 100644
--- a/VirtualRobot/Nodes/CameraSensorFactory.h
+++ b/VirtualRobot/Nodes/CameraSensorFactory.h
@@ -46,7 +46,7 @@ namespace VirtualRobot
         /*!
             Create sensor from XML tag.
         */
-        SensorPtr createSensor(GraspableSensorizedObjectPtr node, rapidxml::xml_node<char>* sensorXMLNode, BaseIO::RobotDescription loadMode = RobotIO::eFull, const std::string basePath = std::string()) const override;
+        SensorPtr createSensor(GraspableSensorizedObjectPtr node, const rapidxml::xml_node<char>* sensorXMLNode, BaseIO::RobotDescription loadMode = RobotIO::eFull, const std::string basePath = std::string()) const override;
 
         // AbstractFactoryMethod
     public:
@@ -57,4 +57,3 @@ namespace VirtualRobot
     };
 
 } // namespace VirtualRobot
-
diff --git a/VirtualRobot/Nodes/ContactSensorFactory.cpp b/VirtualRobot/Nodes/ContactSensorFactory.cpp
index 9b0a6ad39668d7c93ea19afe19c589513335f712..ebc48f55f20a015d5ce90732c838d357ff211632 100644
--- a/VirtualRobot/Nodes/ContactSensorFactory.cpp
+++ b/VirtualRobot/Nodes/ContactSensorFactory.cpp
@@ -31,7 +31,7 @@ namespace VirtualRobot
         return Sensor;
     }
 
-    SensorPtr ContactSensorFactory::createSensor(GraspableSensorizedObjectPtr node, rapidxml::xml_node<char>* sensorXMLNode, BaseIO::RobotDescription /*loadMode*/, const std::string /*basePath*/) const
+    SensorPtr ContactSensorFactory::createSensor(GraspableSensorizedObjectPtr node, const rapidxml::xml_node<char>* sensorXMLNode, BaseIO::RobotDescription /*loadMode*/, const std::string /*basePath*/) const
     {
         THROW_VR_EXCEPTION_IF(!sensorXMLNode, "NULL data");
         THROW_VR_EXCEPTION_IF(!node, "NULL data");
diff --git a/VirtualRobot/Nodes/ContactSensorFactory.h b/VirtualRobot/Nodes/ContactSensorFactory.h
index 16f94fb7743d195b5c819ca370d27dc91904a30d..2547377a84804718a3f9a569fade16bde487920a 100644
--- a/VirtualRobot/Nodes/ContactSensorFactory.h
+++ b/VirtualRobot/Nodes/ContactSensorFactory.h
@@ -45,7 +45,7 @@ namespace VirtualRobot
         /*!
           Create sensor from XML tag.
           */
-        SensorPtr createSensor(GraspableSensorizedObjectPtr node, rapidxml::xml_node<char>* sensorXMLNode, BaseIO::RobotDescription loadMode = RobotIO::eFull, const std::string basePath = std::string()) const override;
+        SensorPtr createSensor(GraspableSensorizedObjectPtr node, const rapidxml::xml_node<char>* sensorXMLNode, BaseIO::RobotDescription loadMode = RobotIO::eFull, const std::string basePath = std::string()) const override;
 
         // AbstractFactoryMethod
     public:
@@ -56,4 +56,3 @@ namespace VirtualRobot
     };
 
 } // namespace VirtualRobot
-
diff --git a/VirtualRobot/Nodes/ForceTorqueSensorFactory.cpp b/VirtualRobot/Nodes/ForceTorqueSensorFactory.cpp
index 92acc3f98b9a38ea4321c23dbf51ba92d28ab45d..054efe6e0538911c8ab67c3a4ce6a8e433519633 100644
--- a/VirtualRobot/Nodes/ForceTorqueSensorFactory.cpp
+++ b/VirtualRobot/Nodes/ForceTorqueSensorFactory.cpp
@@ -32,7 +32,7 @@ namespace VirtualRobot
         return Sensor;
     }
 
-    SensorPtr ForceTorqueSensorFactory::createSensor(GraspableSensorizedObjectPtr node, rapidxml::xml_node<char>* sensorXMLNode, BaseIO::RobotDescription /*loadMode*/, const std::string /*basePath*/) const
+    SensorPtr ForceTorqueSensorFactory::createSensor(GraspableSensorizedObjectPtr node, const rapidxml::xml_node<char>* sensorXMLNode, BaseIO::RobotDescription /*loadMode*/, const std::string /*basePath*/) const
     {
         THROW_VR_EXCEPTION_IF(!sensorXMLNode, "NULL data");
         THROW_VR_EXCEPTION_IF(!node, "NULL data");
diff --git a/VirtualRobot/Nodes/ForceTorqueSensorFactory.h b/VirtualRobot/Nodes/ForceTorqueSensorFactory.h
index 8c02ed2574a180c82d4cb946a32fc264ca1778c9..c9cb7a83b966eef396d8e4e496f84baf788d0668 100644
--- a/VirtualRobot/Nodes/ForceTorqueSensorFactory.h
+++ b/VirtualRobot/Nodes/ForceTorqueSensorFactory.h
@@ -44,7 +44,7 @@ namespace VirtualRobot
         /*!
             Create sensor from XML tag.
         */
-        SensorPtr createSensor(GraspableSensorizedObjectPtr node, rapidxml::xml_node<char>* sensorXMLNode, BaseIO::RobotDescription loadMode = RobotIO::eFull, const std::string basePath = std::string()) const override;
+        SensorPtr createSensor(GraspableSensorizedObjectPtr node, const rapidxml::xml_node<char>* sensorXMLNode, BaseIO::RobotDescription loadMode = RobotIO::eFull, const std::string basePath = std::string()) const override;
 
         // AbstractFactoryMethod
     public:
@@ -55,4 +55,3 @@ namespace VirtualRobot
     };
 
 } // namespace VirtualRobot
-
diff --git a/VirtualRobot/Nodes/PositionSensorFactory.cpp b/VirtualRobot/Nodes/PositionSensorFactory.cpp
index df8d20175094fe9bd1564974acb0d61548c85f8f..f26812e643352e55becfe0d681173be7f814e212 100644
--- a/VirtualRobot/Nodes/PositionSensorFactory.cpp
+++ b/VirtualRobot/Nodes/PositionSensorFactory.cpp
@@ -31,7 +31,7 @@ namespace VirtualRobot
         return Sensor;
     }
 
-    SensorPtr PositionSensorFactory::createSensor(GraspableSensorizedObjectPtr node, rapidxml::xml_node<char>* sensorXMLNode, BaseIO::RobotDescription loadMode, const std::string basePath) const
+    SensorPtr PositionSensorFactory::createSensor(GraspableSensorizedObjectPtr node, const rapidxml::xml_node<char>* sensorXMLNode, BaseIO::RobotDescription loadMode, const std::string basePath) const
     {
         THROW_VR_EXCEPTION_IF(!sensorXMLNode, "NULL data");
         THROW_VR_EXCEPTION_IF(!node, "NULL data");
diff --git a/VirtualRobot/Nodes/PositionSensorFactory.h b/VirtualRobot/Nodes/PositionSensorFactory.h
index 72889c7273450d2c7dc89277a68c21a62dbea575..eb91e55b788b667eb94843b38764d8f9edfb4be3 100644
--- a/VirtualRobot/Nodes/PositionSensorFactory.h
+++ b/VirtualRobot/Nodes/PositionSensorFactory.h
@@ -46,7 +46,7 @@ namespace VirtualRobot
         /*!
             Create sensor from XML tag.
         */
-        SensorPtr createSensor(GraspableSensorizedObjectPtr node, rapidxml::xml_node<char>* sensorXMLNode, BaseIO::RobotDescription loadMode = RobotIO::eFull, const std::string basePath = std::string()) const override;
+        SensorPtr createSensor(GraspableSensorizedObjectPtr node, const rapidxml::xml_node<char>* sensorXMLNode, BaseIO::RobotDescription loadMode = RobotIO::eFull, const std::string basePath = std::string()) const override;
 
         // AbstractFactoryMethod
     public:
@@ -57,4 +57,3 @@ namespace VirtualRobot
     };
 
 } // namespace VirtualRobot
-
diff --git a/VirtualRobot/Nodes/SensorFactory.h b/VirtualRobot/Nodes/SensorFactory.h
index 1c25bdb53efa27bb65d5c9c01042247b9b4d9bfe..cddf3ab072378127cbd8c9b10b26f09cfbea1480 100644
--- a/VirtualRobot/Nodes/SensorFactory.h
+++ b/VirtualRobot/Nodes/SensorFactory.h
@@ -65,7 +65,7 @@ namespace VirtualRobot
         /*!
             Create sensor from XML tag. Factories of custom sensors can initialize with this method.
         */
-        virtual SensorPtr createSensor(GraspableSensorizedObjectPtr /*node*/, rapidxml::xml_node<char>* /*sensorXMLNode*/, BaseIO::RobotDescription /*loadMode*/ = RobotIO::eFull, const std::string /*basePath*/ = std::string()) const
+        virtual SensorPtr createSensor(GraspableSensorizedObjectPtr /*node*/, const rapidxml::xml_node<char>* /*sensorXMLNode*/, BaseIO::RobotDescription /*loadMode*/ = RobotIO::eFull, const std::string /*basePath*/ = std::string()) const
         {
             return SensorPtr();
         }
@@ -74,4 +74,3 @@ namespace VirtualRobot
     typedef std::shared_ptr<SensorFactory> SensorFactoryPtr;
 
 } // namespace VirtualRobot
-