diff --git a/modules/comms/python/generated-sources-pybind/mvsim/Comms/Client.cpp b/modules/comms/python/generated-sources-pybind/mvsim/Comms/Client.cpp
index b2ceb9d3..ef3aac56 100644
--- a/modules/comms/python/generated-sources-pybind/mvsim/Comms/Client.cpp
+++ b/modules/comms/python/generated-sources-pybind/mvsim/Comms/Client.cpp
@@ -1,6 +1,5 @@
 #include <mrpt/system/CTimeLogger.h>
 #include <mvsim/Comms/Client.h>
-#include <pybind11/functional.h>
 #include <pybind11/pybind11.h>
 #include <pybind11/stl.h>
 
@@ -13,27 +12,24 @@
 
 #ifndef BINDER_PYBIND11_TYPE_CASTER
 #define BINDER_PYBIND11_TYPE_CASTER
-PYBIND11_DECLARE_HOLDER_TYPE(T, std::shared_ptr<T>)
-PYBIND11_DECLARE_HOLDER_TYPE(T, T*)
+PYBIND11_DECLARE_HOLDER_TYPE(T, std::shared_ptr<T>, false)
+PYBIND11_DECLARE_HOLDER_TYPE(T, T*, false)
 PYBIND11_MAKE_OPAQUE(std::shared_ptr<void>)
 #endif
 
 void bind_mvsim_Comms_Client(std::function<pybind11::module&(std::string const& namespace_)>& M)
 {
-	{  // mvsim::Client file:mvsim/Comms/Client.h line:48
+	{  // mvsim::Client file:mvsim/Comms/Client.h line:54
 		pybind11::class_<mvsim::Client, std::shared_ptr<mvsim::Client>> cl(
 			M("mvsim"), "Client",
-			"This is the connection of any user program with the MVSIM server, "
-			"so\n it can advertise and subscribe to topics and use remote "
-			"services.\n\n Users should instance a class mvsim::Client (C++) "
-			"or mvsim.Client (Python) to\n communicate with the simulation "
-			"runnin in mvsim::World or any other module.\n\n Usage:\n  - "
-			"Instantiate a Client object.\n  - Call connect(). It will return "
-			"immediately.\n  - The client will be working on the background as "
-			"long as the object is not\n destroyed.\n\n Messages and topics "
-			"are described as Protobuf messages, and communications\n are done "
-			"via ZMQ sockets.\n\n See: https://mvsimulator.readthedocs.io/\n\n "
-			"\n\n ");
+			"This is the connection of any user program with the MVSIM server, so\n it can "
+			"advertise and subscribe to topics and use remote services.\n\n Users should instance "
+			"a class mvsim::Client (C++) or mvsim.Client (Python) to\n communicate with the "
+			"simulation runnin in mvsim::World or any other module.\n\n Usage:\n  - Instantiate a "
+			"Client object.\n  - Call connect(). It will return immediately.\n  - The client will "
+			"be working on the background as long as the object is not\n destroyed.\n\n Messages "
+			"and topics are described as Protobuf messages, and communications\n are done via ZMQ "
+			"sockets.\n\n See: https://mvsimulator.readthedocs.io/\n\n \n\n ");
 		cl.def(pybind11::init([]() { return new mvsim::Client(); }));
 		cl.def(pybind11::init<const std::string&>(), pybind11::arg("nodeName"));
 
@@ -44,58 +40,59 @@ void bind_mvsim_Comms_Client(std::function<pybind11::module&(std::string const&
 		cl.def(
 			"serverHostAddress",
 			(const std::string& (mvsim::Client::*)() const) & mvsim::Client::serverHostAddress,
-			"C++: mvsim::Client::serverHostAddress() const --> const "
-			"std::string &",
+			"C++: mvsim::Client::serverHostAddress() const --> const std::string &",
 			pybind11::return_value_policy::automatic);
 		cl.def(
 			"serverHostAddress",
 			(void(mvsim::Client::*)(const std::string&)) & mvsim::Client::serverHostAddress,
-			"C++: mvsim::Client::serverHostAddress(const std::string &) --> "
-			"void",
+			"C++: mvsim::Client::serverHostAddress(const std::string &) --> void",
 			pybind11::arg("serverIpOrAddressName"));
 		cl.def(
 			"connect", (void(mvsim::Client::*)()) & mvsim::Client::connect,
-			"Connects to the server in a parallel thread.\n  Default server "
-			"address is `localhost`, can be changed with\n "
-			"serverHostAddress().\n\nC++: mvsim::Client::connect() --> void");
+			"Connects to the server in a parallel thread.\n  Default server address is "
+			"`localhost`, can be changed with\n serverHostAddress().\n\nC++: "
+			"mvsim::Client::connect() --> void");
 		cl.def(
 			"connected", (bool(mvsim::Client::*)() const) & mvsim::Client::connected,
 			"Whether the client is correctly connected to the server. \n\nC++: "
 			"mvsim::Client::connected() const --> bool");
 		cl.def(
 			"shutdown", (void(mvsim::Client::*)()) & mvsim::Client::shutdown,
-			"Shutdowns the communication thread. Blocks until the thread is "
-			"stopped.\n There is no need to manually call this method, it is "
-			"called upon\n destruction. \n\nC++: mvsim::Client::shutdown() --> "
-			"void");
+			"Shutdowns the communication thread. Blocks until the thread is stopped.\n There is no "
+			"need to manually call this method, it is called upon\n destruction. \n\nC++: "
+			"mvsim::Client::shutdown() --> void");
 		cl.def(
 			"callService",
-			(std::string(mvsim::Client::*)(const std::string&, const std::string&)) &
+			(class pybind11::bytes(mvsim::Client::*)(const std::string&, const std::string&)) &
 				mvsim::Client::callService,
-			"Overload for python wrapper\n\nC++: "
-			"mvsim::Client::callService(const std::string &, const std::string "
-			"&) --> std::string",
+			"Overload for python wrapper\n\nC++: mvsim::Client::callService(const std::string &, "
+			"const std::string &) --> class pybind11::bytes",
 			pybind11::arg("serviceName"), pybind11::arg("inputSerializedMsg"));
 		cl.def(
 			"subscribeTopic",
 			(void(mvsim::Client::*)(
 				const std::string&,
 				const class std::function<void(
-					const std::string&,
-					const class std::vector<
-						unsigned char, class std::allocator<unsigned char>>&)>&)) &
+					const std::string&, const class std::vector<unsigned char>&)>&)) &
 				mvsim::Client::subscribeTopic,
-			"Overload for python wrapper (callback accepts "
-			"bytes-string)\n\nC++: mvsim::Client::subscribeTopic(const "
-			"std::string &, const class std::function<void (const std::string "
-			"&, const class std::vector<unsigned char, class "
-			"std::allocator<unsigned char> > &)> &) --> void",
+			"Overload for python wrapper (callback accepts bytes-string)\n\nC++: "
+			"mvsim::Client::subscribeTopic(const std::string &, const class std::function<void "
+			"(const std::string &, const class std::vector<unsigned char> &)> &) --> void",
+			pybind11::arg("topicName"), pybind11::arg("callback"));
+		cl.def(
+			"subscribe_topic_raw",
+			(void(mvsim::Client::*)(
+				const std::string&,
+				const class std::function<void(const class zmq::message_t&)>&)) &
+				mvsim::Client::subscribe_topic_raw,
+			"C++: mvsim::Client::subscribe_topic_raw(const std::string &, const class "
+			"std::function<void (const class zmq::message_t &)> &) --> void",
 			pybind11::arg("topicName"), pybind11::arg("callback"));
 		cl.def(
 			"enable_profiler", (void(mvsim::Client::*)(bool)) & mvsim::Client::enable_profiler,
 			"C++: mvsim::Client::enable_profiler(bool) --> void", pybind11::arg("enable"));
 
-		{  // mvsim::Client::InfoPerNode file:mvsim/Comms/Client.h line:113
+		{  // mvsim::Client::InfoPerNode file:mvsim/Comms/Client.h line:117
 			auto& enclosing_class = cl;
 			pybind11::class_<
 				mvsim::Client::InfoPerNode, std::shared_ptr<mvsim::Client::InfoPerNode>>
@@ -110,12 +107,11 @@ void bind_mvsim_Comms_Client(std::function<pybind11::module&(std::string const&
 				 (mvsim::Client::InfoPerNode::*)(const struct mvsim::Client::InfoPerNode&)) &
 					mvsim::Client::InfoPerNode::operator=,
 				"C++: mvsim::Client::InfoPerNode::operator=(const struct "
-				"mvsim::Client::InfoPerNode &) --> struct "
-				"mvsim::Client::InfoPerNode &",
+				"mvsim::Client::InfoPerNode &) --> struct mvsim::Client::InfoPerNode &",
 				pybind11::return_value_policy::automatic, pybind11::arg(""));
 		}
 
-		{  // mvsim::Client::InfoPerTopic file:mvsim/Comms/Client.h line:119
+		{  // mvsim::Client::InfoPerTopic file:mvsim/Comms/Client.h line:123
 			auto& enclosing_class = cl;
 			pybind11::class_<
 				mvsim::Client::InfoPerTopic, std::shared_ptr<mvsim::Client::InfoPerTopic>>
@@ -133,8 +129,7 @@ void bind_mvsim_Comms_Client(std::function<pybind11::module&(std::string const&
 				 (mvsim::Client::InfoPerTopic::*)(const struct mvsim::Client::InfoPerTopic&)) &
 					mvsim::Client::InfoPerTopic::operator=,
 				"C++: mvsim::Client::InfoPerTopic::operator=(const struct "
-				"mvsim::Client::InfoPerTopic &) --> struct "
-				"mvsim::Client::InfoPerTopic &",
+				"mvsim::Client::InfoPerTopic &) --> struct mvsim::Client::InfoPerTopic &",
 				pybind11::return_value_policy::automatic, pybind11::arg(""));
 		}
 	}
diff --git a/modules/comms/python/generated-sources-pybind/mvsim/Comms/common.cpp b/modules/comms/python/generated-sources-pybind/mvsim/Comms/common.cpp
index dfc010d6..6f16ea86 100644
--- a/modules/comms/python/generated-sources-pybind/mvsim/Comms/common.cpp
+++ b/modules/comms/python/generated-sources-pybind/mvsim/Comms/common.cpp
@@ -9,12 +9,12 @@
 
 #ifndef BINDER_PYBIND11_TYPE_CASTER
 #define BINDER_PYBIND11_TYPE_CASTER
-PYBIND11_DECLARE_HOLDER_TYPE(T, std::shared_ptr<T>)
-PYBIND11_DECLARE_HOLDER_TYPE(T, T*)
+PYBIND11_DECLARE_HOLDER_TYPE(T, std::shared_ptr<T>, false)
+PYBIND11_DECLARE_HOLDER_TYPE(T, T*, false)
 PYBIND11_MAKE_OPAQUE(std::shared_ptr<void>)
 #endif
 
-// mvsim::UnexpectedMessageException file:mvsim/Comms/common.h line:49
+// mvsim::UnexpectedMessageException file:mvsim/Comms/common.h line:51
 struct PyCallBack_mvsim_UnexpectedMessageException : public mvsim::UnexpectedMessageException
 {
 	using mvsim::UnexpectedMessageException::UnexpectedMessageException;
@@ -29,16 +29,10 @@ struct PyCallBack_mvsim_UnexpectedMessageException : public mvsim::UnexpectedMes
 			auto o = overload.operator()<pybind11::return_value_policy::reference>();
 			if (pybind11::detail::cast_is_temporary_value_reference<const char*>::value)
 			{
-// pybind11 <=2.4: overload_caster_t, otherwise: override_caster_t
-#if (PYBIND11_MAJOR_VERSION == 2 && PYBIND11_MINOR_VERSION <= 4)
-				static pybind11::detail::overload_caster_t<const char*> caster;
-#else
 				static pybind11::detail::override_caster_t<const char*> caster;
-#endif
 				return pybind11::detail::cast_ref<const char*>(std::move(o), caster);
 			}
-			else
-				return pybind11::detail::cast_safe<const char*>(std::move(o));
+			return pybind11::detail::cast_safe<const char*>(std::move(o));
 		}
 		return runtime_error::what();
 	}
@@ -46,7 +40,7 @@ struct PyCallBack_mvsim_UnexpectedMessageException : public mvsim::UnexpectedMes
 
 void bind_mvsim_Comms_common(std::function<pybind11::module&(std::string const& namespace_)>& M)
 {
-	{  // mvsim::UnexpectedMessageException file:mvsim/Comms/common.h line:49
+	{  // mvsim::UnexpectedMessageException file:mvsim/Comms/common.h line:51
 		pybind11::class_<
 			mvsim::UnexpectedMessageException, std::shared_ptr<mvsim::UnexpectedMessageException>,
 			PyCallBack_mvsim_UnexpectedMessageException, std::runtime_error>
@@ -64,8 +58,7 @@ void bind_mvsim_Comms_common(std::function<pybind11::module&(std::string const&
 														UnexpectedMessageException&)) &
 				mvsim::UnexpectedMessageException::operator=,
 			"C++: mvsim::UnexpectedMessageException::operator=(const class "
-			"mvsim::UnexpectedMessageException &) --> class "
-			"mvsim::UnexpectedMessageException &",
+			"mvsim::UnexpectedMessageException &) --> class mvsim::UnexpectedMessageException &",
 			pybind11::return_value_policy::automatic, pybind11::arg(""));
 	}
 }
diff --git a/modules/comms/python/generated-sources-pybind/pymvsim_comms.cpp b/modules/comms/python/generated-sources-pybind/pymvsim_comms.cpp
index 67222138..7e19fcfb 100644
--- a/modules/comms/python/generated-sources-pybind/pymvsim_comms.cpp
+++ b/modules/comms/python/generated-sources-pybind/pymvsim_comms.cpp
@@ -7,7 +7,7 @@
 #include <stdexcept>
 #include <string>
 
-typedef std::function<pybind11::module&(std::string const&)> ModuleGetter;
+using ModuleGetter = std::function<pybind11::module&(std::string const&)>;
 
 void bind_std_exception(std::function<pybind11::module&(std::string const& namespace_)>& M);
 void bind_std_stdexcept(std::function<pybind11::module&(std::string const& namespace_)>& M);
@@ -42,8 +42,7 @@ PYBIND11_MODULE(pymvsim_comms, root_module)
 			if (std::find(reserved_python_words.begin(), reserved_python_words.end(), ns) ==
 				reserved_python_words.end())
 				return ns;
-			else
-				return ns + '_';
+			return ns + '_';
 		});
 
 	std::vector<std::pair<std::string, std::string>> sub_modules{
@@ -51,7 +50,7 @@ PYBIND11_MODULE(pymvsim_comms, root_module)
 		{"", "std"},
 	};
 	for (auto& p : sub_modules)
-		modules[p.first.size() ? p.first + "::" + p.second : p.second] =
+		modules[p.first.empty() ? p.second : p.first + "::" + p.second] =
 			modules[p.first].def_submodule(
 				mangle_namespace_name(p.second).c_str(),
 				("Bindings for " + p.first + "::" + p.second + " namespace").c_str());
diff --git a/modules/comms/python/generated-sources-pybind/std/exception.cpp b/modules/comms/python/generated-sources-pybind/std/exception.cpp
index ebac1bfc..fef751c3 100644
--- a/modules/comms/python/generated-sources-pybind/std/exception.cpp
+++ b/modules/comms/python/generated-sources-pybind/std/exception.cpp
@@ -8,8 +8,8 @@
 
 #ifndef BINDER_PYBIND11_TYPE_CASTER
 #define BINDER_PYBIND11_TYPE_CASTER
-PYBIND11_DECLARE_HOLDER_TYPE(T, std::shared_ptr<T>)
-PYBIND11_DECLARE_HOLDER_TYPE(T, T*)
+PYBIND11_DECLARE_HOLDER_TYPE(T, std::shared_ptr<T>, false)
+PYBIND11_DECLARE_HOLDER_TYPE(T, T*, false)
 PYBIND11_MAKE_OPAQUE(std::shared_ptr<void>)
 #endif
 
@@ -28,16 +28,10 @@ struct PyCallBack_std_exception : public std::exception
 			auto o = overload.operator()<pybind11::return_value_policy::reference>();
 			if (pybind11::detail::cast_is_temporary_value_reference<const char*>::value)
 			{
-// pybind11 <=2.4: overload_caster_t, otherwise: override_caster_t
-#if (PYBIND11_MAJOR_VERSION == 2 && PYBIND11_MINOR_VERSION <= 4)
-				static pybind11::detail::overload_caster_t<const char*> caster;
-#else
 				static pybind11::detail::override_caster_t<const char*> caster;
-#endif
 				return pybind11::detail::cast_ref<const char*>(std::move(o), caster);
 			}
-			else
-				return pybind11::detail::cast_safe<const char*>(std::move(o));
+			return pybind11::detail::cast_safe<const char*>(std::move(o));
 		}
 		return exception::what();
 	}
@@ -58,8 +52,8 @@ void bind_std_exception(std::function<pybind11::module&(std::string const& names
 			"assign",
 			(class std::exception & (std::exception::*)(const class std::exception&)) &
 				std::exception::operator=,
-			"C++: std::exception::operator=(const class std::exception &) --> "
-			"class std::exception &",
+			"C++: std::exception::operator=(const class std::exception &) --> class std::exception "
+			"&",
 			pybind11::return_value_policy::automatic, pybind11::arg(""));
 		cl.def(
 			"what", (const char* (std::exception::*)() const) & std::exception::what,
diff --git a/modules/comms/python/generated-sources-pybind/std/stdexcept.cpp b/modules/comms/python/generated-sources-pybind/std/stdexcept.cpp
index aa9b2d44..92bd7b92 100644
--- a/modules/comms/python/generated-sources-pybind/std/stdexcept.cpp
+++ b/modules/comms/python/generated-sources-pybind/std/stdexcept.cpp
@@ -10,8 +10,8 @@
 
 #ifndef BINDER_PYBIND11_TYPE_CASTER
 #define BINDER_PYBIND11_TYPE_CASTER
-PYBIND11_DECLARE_HOLDER_TYPE(T, std::shared_ptr<T>)
-PYBIND11_DECLARE_HOLDER_TYPE(T, T*)
+PYBIND11_DECLARE_HOLDER_TYPE(T, std::shared_ptr<T>, false)
+PYBIND11_DECLARE_HOLDER_TYPE(T, T*, false)
 PYBIND11_MAKE_OPAQUE(std::shared_ptr<void>)
 #endif
 
@@ -30,16 +30,10 @@ struct PyCallBack_std_runtime_error : public std::runtime_error
 			auto o = overload.operator()<pybind11::return_value_policy::reference>();
 			if (pybind11::detail::cast_is_temporary_value_reference<const char*>::value)
 			{
-// pybind11 <=2.4: overload_caster_t, otherwise: override_caster_t
-#if (PYBIND11_MAJOR_VERSION == 2 && PYBIND11_MINOR_VERSION <= 4)
-				static pybind11::detail::overload_caster_t<const char*> caster;
-#else
 				static pybind11::detail::override_caster_t<const char*> caster;
-#endif
 				return pybind11::detail::cast_ref<const char*>(std::move(o), caster);
 			}
-			else
-				return pybind11::detail::cast_safe<const char*>(std::move(o));
+			return pybind11::detail::cast_safe<const char*>(std::move(o));
 		}
 		return runtime_error::what();
 	}
@@ -64,8 +58,8 @@ void bind_std_stdexcept(std::function<pybind11::module&(std::string const& names
 			"assign",
 			(class std::runtime_error & (std::runtime_error::*)(const class std::runtime_error&)) &
 				std::runtime_error::operator=,
-			"C++: std::runtime_error::operator=(const class std::runtime_error "
-			"&) --> class std::runtime_error &",
+			"C++: std::runtime_error::operator=(const class std::runtime_error &) --> class "
+			"std::runtime_error &",
 			pybind11::return_value_policy::automatic, pybind11::arg(""));
 		cl.def(
 			"what", (const char* (std::runtime_error::*)() const) & std::runtime_error::what,