diff --git a/doc/release/master/remove_stream_operator_std_vector.md b/doc/release/master/remove_stream_operator_std_vector.md
new file mode 100644
index 00000000000..03c4d4dcf96
--- /dev/null
+++ b/doc/release/master/remove_stream_operator_std_vector.md
@@ -0,0 +1,11 @@
+remove_stream_operator_std_vector {#master}
+---------------------------------
+
+## Libraries
+
+### `os`
+
+#### `LogStream`
+
+* The `operator<<` for `std::ostream` and `std::vector` which caused conflicts
+  with Casadi was removed (#2067).
diff --git a/example/os/log/log_test.cpp b/example/os/log/log_test.cpp
index 7dd151bcbd1..91b84a6b4c0 100644
--- a/example/os/log/log_test.cpp
+++ b/example/os/log/log_test.cpp
@@ -51,7 +51,7 @@ int main(int argc, char *argv[])
 
     yTrace();
     yTrace() << "This is" << "another" << "trace" << i;
-    yTrace() << v;
+    yTrace() << v << "and there should be a space before \"and\" and after" << "the first \"after\"";
     yTrace() << "The end of line is removed from this trace\n";
     yCTrace(LOG_COMPONENT);
     yCTrace(LOG_COMPONENT) << "This is" << "another" << "trace" << i;
@@ -70,7 +70,7 @@ int main(int argc, char *argv[])
 
     yDebug();
     yDebug() << "This is" << "another" << "debug" << i;
-    yDebug() << v;
+    yDebug() << v << "and there should be a space before \"and\" and after" << "the first \"after\"";
     yDebug() << "The end of line is removed from this debug\n";
     yCDebug(LOG_COMPONENT);
     yCDebug(LOG_COMPONENT) << "This is" << "another" << "debug" << i;
@@ -88,7 +88,7 @@ int main(int argc, char *argv[])
 
     yInfo();
     yInfo() << "This is" << "more" << "info" << i;
-    yInfo() << v;
+    yInfo() << v << "and there should be a space before \"and\" and after" << "the first \"after\"";
     yInfo() << "The end of line is removed from this info\n";
     yCInfo(LOG_COMPONENT);
     yCInfo(LOG_COMPONENT) << "This is" << "more" << "info" << i;
@@ -106,7 +106,7 @@ int main(int argc, char *argv[])
 
     yWarning();
     yWarning() << "This is" << "another" << "warning" << i;
-    yWarning() << v;
+    yWarning() << v << "and there should be a space before \"and\" and after" << "the first \"after\"";
     yWarning() << "The end of line is removed from this warning\n";
     yCWarning(LOG_COMPONENT);
     yCWarning(LOG_COMPONENT) << "This is" << "another" << "warning" << i;
@@ -124,7 +124,7 @@ int main(int argc, char *argv[])
 
     yError();
     yError() << "This is" << "another" << "error" << i;
-    yError() << v;
+    yError() << v << "and there should be a space before \"and\" and after" << "the first \"after\"";
     yError() << "The end of line is removed from this error\n";
     yCError(LOG_COMPONENT);
     yCError(LOG_COMPONENT) << "This is" << "another" << "error" << i;
diff --git a/src/libYARP_os/src/yarp/os/LogStream.h b/src/libYARP_os/src/yarp/os/LogStream.h
index 2c332e22179..697ba112079 100644
--- a/src/libYARP_os/src/yarp/os/LogStream.h
+++ b/src/libYARP_os/src/yarp/os/LogStream.h
@@ -24,12 +24,6 @@
 #include <string>
 #include <vector>
 
-
-namespace std {
-template <typename T>
-std::ostream& operator<<(std::ostream& os, const std::vector<T>& t);
-}
-
 namespace yarp {
 namespace os {
 
@@ -67,6 +61,7 @@ class YARP_os_API LogStream
         const yarp::os::Log::Predicate pred;
         const LogComponent& comp;
         int ref;
+        bool nospace {false};
     } * stream;
 
 public:
@@ -132,121 +127,149 @@ class YARP_os_API LogStream
     inline LogStream& operator<<(bool t)
     {
         stream->oss << (t ? "true" : "false");
-        stream->oss << ' ';
+        if (!stream->nospace) {
+            stream->oss << ' ';
+        }
         return *this;
     }
     inline LogStream& operator<<(char t)
     {
         stream->oss << t;
-        stream->oss << ' ';
+        if (!stream->nospace) {
+            stream->oss << ' ';
+        }
         return *this;
     }
     inline LogStream& operator<<(signed short t)
     {
         stream->oss << t;
-        stream->oss << ' ';
+        if (!stream->nospace) {
+            stream->oss << ' ';
+        }
         return *this;
     }
     inline LogStream& operator<<(unsigned short t)
     {
         stream->oss << t;
-        stream->oss << ' ';
+        if (!stream->nospace) {
+            stream->oss << ' ';
+        }
         return *this;
     }
     inline LogStream& operator<<(signed int t)
     {
         stream->oss << t;
-        stream->oss << ' ';
+        if (!stream->nospace) {
+            stream->oss << ' ';
+        }
         return *this;
     }
     inline LogStream& operator<<(unsigned int t)
     {
         stream->oss << t;
-        stream->oss << ' ';
+        if (!stream->nospace) {
+            stream->oss << ' ';
+        }
         return *this;
     }
     inline LogStream& operator<<(signed long t)
     {
         stream->oss << t;
-        stream->oss << ' ';
+        if (!stream->nospace) {
+            stream->oss << ' ';
+        }
         return *this;
     }
     inline LogStream& operator<<(unsigned long t)
     {
         stream->oss << t;
-        stream->oss << ' ';
+        if (!stream->nospace) {
+            stream->oss << ' ';
+        }
         return *this;
     }
     inline LogStream& operator<<(signed long long t)
     {
         stream->oss << t;
-        stream->oss << ' ';
+        if (!stream->nospace) {
+            stream->oss << ' ';
+        }
         return *this;
     }
     inline LogStream& operator<<(unsigned long long t)
     {
         stream->oss << t;
-        stream->oss << ' ';
+        if (!stream->nospace) {
+            stream->oss << ' ';
+        }
         return *this;
     }
     inline LogStream& operator<<(float t)
     {
         stream->oss << t;
-        stream->oss << ' ';
+        if (!stream->nospace) {
+            stream->oss << ' ';
+        }
         return *this;
     }
     inline LogStream& operator<<(double t)
     {
         stream->oss << t;
-        stream->oss << ' ';
+        if (!stream->nospace) {
+            stream->oss << ' ';
+        }
         return *this;
     }
     inline LogStream& operator<<(const char* t)
     {
         stream->oss << t;
-        stream->oss << ' ';
+        if (!stream->nospace) {
+            stream->oss << ' ';
+        }
         return *this;
     }
     inline LogStream& operator<<(const void* t)
     {
         stream->oss << t;
-        stream->oss << ' ';
+        if (!stream->nospace) {
+            stream->oss << ' ';
+        }
         return *this;
     }
 
     inline LogStream& operator<<(const std::string& t)
     {
         stream->oss << t.c_str();
-        stream->oss << ' ';
+        if (!stream->nospace) {
+            stream->oss << ' ';
+        }
         return *this;
     }
 
     template <typename T>
     inline LogStream& operator<<(const std::vector<T>& t)
     {
-        stream->oss << t;
-        stream->oss << ' ';
+        bool nospace = stream->nospace;
+        stream->nospace = true;
+        stream->oss << '[';
+        for (typename std::vector<T>::const_iterator it = t.begin(); it != t.end(); ++it) {
+            const T& p = *it;
+            if (it != t.begin()) {
+                stream->oss << ", ";
+            }
+            *this << p;
+        }
+        stream->oss << ']';
+        stream->nospace = nospace;
+        if (!stream->nospace) {
+            stream->oss << ' ';
+        }
         return *this;
-    }
+}
+
 }; // class LogStream
 
 } // namespace os
 } // namespace yarp
 
-
-template <typename T>
-inline std::ostream& std::operator<<(std::ostream& os, const std::vector<T>& t)
-{
-    os << '[';
-    for (typename std::vector<T>::const_iterator it = t.begin(); it != t.end(); ++it) {
-        const T& p = *it;
-        if (it != t.begin()) {
-            os << ", ";
-        }
-        os << p;
-    }
-    os << ']';
-    return os;
-}
-
 #endif // YARP_OS_LOGSTREAM_H
diff --git a/src/libYARP_robotinterface/src/yarp/robotinterface/experimental/Action.cpp b/src/libYARP_robotinterface/src/yarp/robotinterface/experimental/Action.cpp
index 7778702e66a..6128f1fc911 100644
--- a/src/libYARP_robotinterface/src/yarp/robotinterface/experimental/Action.cpp
+++ b/src/libYARP_robotinterface/src/yarp/robotinterface/experimental/Action.cpp
@@ -31,24 +31,15 @@ class yarp::robotinterface::experimental::Action::Private
     ParamList params;
 };
 
-std::ostream& std::operator<<(std::ostream& oss, const yarp::robotinterface::experimental::Action& t)
+yarp::os::LogStream operator<<(yarp::os::LogStream dbg, const yarp::robotinterface::experimental::Action& t)
 {
-    oss << "(\"" << ActionPhaseToString(t.phase()) << ":" << ActionTypeToString(t.type()) << ":" << t.level() << "\"";
+    dbg << "(\"" << ActionPhaseToString(t.phase()) << ":" << ActionTypeToString(t.type()) << ":" << t.level() << "\"";
     if (!t.params().empty()) {
-        oss << ", params = [";
-        oss << t.params();
-        oss << "]";
+        dbg << ", params = [";
+        dbg << t.params();
+        dbg << "]";
     }
-    oss << ")";
-    return oss;
-}
-
-
-yarp::os::LogStream operator<<(yarp::os::LogStream dbg, const yarp::robotinterface::experimental::Action& t)
-{
-    std::ostringstream oss;
-    oss << t;
-    dbg << oss.str();
+    dbg << ")";
     return dbg;
 }
 
diff --git a/src/libYARP_robotinterface/src/yarp/robotinterface/experimental/Action.h b/src/libYARP_robotinterface/src/yarp/robotinterface/experimental/Action.h
index c0f0aa81dba..9bf831feb96 100644
--- a/src/libYARP_robotinterface/src/yarp/robotinterface/experimental/Action.h
+++ b/src/libYARP_robotinterface/src/yarp/robotinterface/experimental/Action.h
@@ -49,9 +49,6 @@ class YARP_robotinterface_API Action
 } // namespace yarp
 
 
-namespace std {
-YARP_robotinterface_API std::ostream& operator<<(std::ostream& oss, const yarp::robotinterface::experimental::Action& t);
-}
 YARP_robotinterface_API yarp::os::LogStream operator<<(yarp::os::LogStream dbg, const yarp::robotinterface::experimental::Action& t);
 
 
diff --git a/src/libYARP_robotinterface/src/yarp/robotinterface/experimental/Device.cpp b/src/libYARP_robotinterface/src/yarp/robotinterface/experimental/Device.cpp
index a4645578cdb..c52a73ec3ac 100644
--- a/src/libYARP_robotinterface/src/yarp/robotinterface/experimental/Device.cpp
+++ b/src/libYARP_robotinterface/src/yarp/robotinterface/experimental/Device.cpp
@@ -187,28 +187,20 @@ class yarp::robotinterface::experimental::Device::Private
     Driver* driver;
 };
 
-std::ostream& std::operator<<(std::ostream& oss, const yarp::robotinterface::experimental::Device& t)
+yarp::os::LogStream operator<<(yarp::os::LogStream dbg, const yarp::robotinterface::experimental::Device& t)
 {
-    oss << "(name = \"" << t.name() << "\", type = \"" << t.type() << "\"";
+    dbg << "(name = \"" << t.name() << "\", type = \"" << t.type() << "\"";
     if (!t.params().empty()) {
-        oss << ", params = [";
-        oss << t.params();
-        oss << "]";
+        dbg << ", params = [";
+        dbg << t.params();
+        dbg << "]";
     }
     if (!t.actions().empty()) {
-        oss << ", actions = [";
-        oss << t.actions();
-        oss << "]";
+        dbg << ", actions = [";
+        dbg << t.actions();
+        dbg << "]";
     }
-    oss << ")";
-    return oss;
-}
-
-yarp::os::LogStream operator<<(yarp::os::LogStream dbg, const yarp::robotinterface::experimental::Device& t)
-{
-    std::ostringstream oss;
-    oss << t;
-    dbg << oss.str();
+    dbg << ")";
     return dbg;
 }
 
diff --git a/src/libYARP_robotinterface/src/yarp/robotinterface/experimental/Device.h b/src/libYARP_robotinterface/src/yarp/robotinterface/experimental/Device.h
index 292c90db1eb..5d91cdbdfac 100644
--- a/src/libYARP_robotinterface/src/yarp/robotinterface/experimental/Device.h
+++ b/src/libYARP_robotinterface/src/yarp/robotinterface/experimental/Device.h
@@ -91,9 +91,6 @@ class YARP_robotinterface_API Device
 } // namespace robotinterface
 } // namespace yarp
 
-namespace std {
-YARP_robotinterface_API std::ostream& operator<<(std::ostream& oss, const yarp::robotinterface::experimental::Device& t);
-}
 YARP_robotinterface_API yarp::os::LogStream operator<<(yarp::os::LogStream dbg, const yarp::robotinterface::experimental::Device& t);
 
 
diff --git a/src/libYARP_robotinterface/src/yarp/robotinterface/experimental/Robot.cpp b/src/libYARP_robotinterface/src/yarp/robotinterface/experimental/Robot.cpp
index fea58884205..19cd651f4a5 100644
--- a/src/libYARP_robotinterface/src/yarp/robotinterface/experimental/Robot.cpp
+++ b/src/libYARP_robotinterface/src/yarp/robotinterface/experimental/Robot.cpp
@@ -23,21 +23,21 @@
 #include <unordered_set>
 
 
-std::ostringstream& operator<<(std::ostringstream& oss, const yarp::robotinterface::experimental::Robot& t)
+yarp::os::LogStream operator<<(yarp::os::LogStream dbg, const yarp::robotinterface::experimental::Robot& t)
 {
-    oss << "(name = \"" << t.name() << "\"";
+    dbg << "(name = \"" << t.name() << "\"";
     if (!t.params().empty()) {
-        oss << ", params = [";
-        oss << t.params();
-        oss << "]";
+        dbg << ", params = [";
+        dbg << t.params();
+        dbg << "]";
     }
     if (!t.devices().empty()) {
-        oss << ", devices = [";
-        oss << t.devices();
-        oss << "]";
+        dbg << ", devices = [";
+        dbg << t.devices();
+        dbg << "]";
     }
-    oss << ")";
-    return oss;
+    dbg << ")";
+    return dbg;
 }
 
 
@@ -420,14 +420,6 @@ bool yarp::robotinterface::experimental::Robot::Private::custom(const yarp::robo
     return true;
 }
 
-yarp::os::LogStream operator<<(yarp::os::LogStream dbg, const yarp::robotinterface::experimental::Robot& t)
-{
-    std::ostringstream oss;
-    oss << t;
-    dbg << oss.str();
-    return dbg;
-}
-
 yarp::robotinterface::experimental::Robot::Robot() :
         mPriv(new Private(this))
 {
diff --git a/src/libYARP_robotinterface/src/yarp/robotinterface/experimental/Robot.h b/src/libYARP_robotinterface/src/yarp/robotinterface/experimental/Robot.h
index f9270bb08b9..8b2e1c5ea0f 100644
--- a/src/libYARP_robotinterface/src/yarp/robotinterface/experimental/Robot.h
+++ b/src/libYARP_robotinterface/src/yarp/robotinterface/experimental/Robot.h
@@ -63,7 +63,6 @@ class YARP_robotinterface_API Robot
 } // namespace robotinterface
 } // namespace yarp
 
-YARP_robotinterface_API std::ostringstream& operator<<(std::ostringstream& oss, const yarp::robotinterface::experimental::Robot& t);
 YARP_robotinterface_API yarp::os::LogStream operator<<(yarp::os::LogStream dbg, const yarp::robotinterface::experimental::Robot& t);