diff --git a/CHANGELOG.md b/CHANGELOG.md
index 5af9d2f..de26ce8 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -7,6 +7,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ## Unreleased
 - Added some debug prints to detect where the wholeBodyDynamics device hangs at startup. (See [!106](https://github.com/robotology/whole-body-estimators/pull/106)).
 - Fixed the configuration files to run wholeBodyDynamics with iCubGazeboV3. (See [!107](https://github.com/robotology/whole-body-estimators/pull/107)).
+- Avoid to use getOutputCount before broadcasting data. (See [!108](https://github.com/robotology/whole-body-estimators/pull/108)).
 
 ## [0.4.0] - 2021-02-11
 ### Added
diff --git a/devices/wholeBodyDynamics/WholeBodyDynamicsDevice.cpp b/devices/wholeBodyDynamics/WholeBodyDynamicsDevice.cpp
index 6295d14..e3a17a7 100644
--- a/devices/wholeBodyDynamics/WholeBodyDynamicsDevice.cpp
+++ b/devices/wholeBodyDynamics/WholeBodyDynamicsDevice.cpp
@@ -2494,11 +2494,8 @@ void WholeBodyDynamicsDevice::resetGravityCompensation()
 
 template <class T> void broadcastData(T& _values, yarp::os::BufferedPort<T>& _port)
 {
-    if (_port.getOutputCount()>0 )
-    {
-        _port.prepare()  = _values ;
-        _port.write();
-    }
+    _port.prepare()  = _values ;
+    _port.write();
 }
 
 void WholeBodyDynamicsDevice::publishTorques()