diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8bf2e755..b47f6d68 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -89,6 +89,19 @@ set_property(GLOBAL PROPERTY USE_FOLDERS ON)
 # Create targets if specific requirements are satisfied.
 include(CMakeDependentOption)
 
+# Find YARP (main dependency).
+find_package(YARP REQUIRED)
+
+# Load YARP modules.
+if(YARP_VERSION_SHORT VERSION_LESS 2.3.70)
+    list(APPEND CMAKE_MODULE_PATH ${YARP_MODULE_PATH})
+    include(YarpPlugin)
+    include(YarpInstallationHelpers)
+endif()
+
+# Configure installation paths for YARP resources.
+yarp_configure_external_installation(rd)
+
 # Add main contents.
 add_subdirectory(share)
 add_subdirectory(src)
diff --git a/share/CMakeLists.txt b/share/CMakeLists.txt
index a63c7f65..4dae70a4 100644
--- a/share/CMakeLists.txt
+++ b/share/CMakeLists.txt
@@ -2,11 +2,6 @@
 # CopyPolicy: released under the terms of the LGPLv2.1, see LICENSE at project root.
 # URL: https://github.com/asrob-uc3m/robotDevastation
 
-find_package(YARP REQUIRED)
-list(APPEND CMAKE_MODULE_PATH ${YARP_MODULE_PATH})
-include(YarpInstallationHelpers)
-yarp_configure_external_installation(rd)
-
 ### Go through directories
 
 add_subdirectory(robotDevastation)
diff --git a/src/libraries/ImageLib/CMakeLists.txt b/src/libraries/ImageLib/CMakeLists.txt
index 3e3728d1..7fd3f47c 100644
--- a/src/libraries/ImageLib/CMakeLists.txt
+++ b/src/libraries/ImageLib/CMakeLists.txt
@@ -2,7 +2,6 @@
 # CopyPolicy: released under the terms of the LGPLv2.1, see LICENSE at project root.
 # URL: https://github.com/asrob-uc3m/robotDevastation
 
-find_package(YARP REQUIRED)
 find_package(ZBar REQUIRED)
 
 add_library(ImageLib ImageEventListener.hpp
@@ -22,9 +21,12 @@ add_library(ImageLib ImageEventListener.hpp
 add_dependencies(ImageLib COLOR_DEBUG)
 
 target_include_directories(ImageLib PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}
-                                           ${YARP_INCLUDE_DIRS}
                                            ${ZBAR_INCLUDE_DIR})
 
+if(YARP_VERSION_SHORT VERSION_LESS 2.3.70)
+    target_include_directories(ImageLib PUBLIC ${YARP_INCLUDE_DIRS})
+endif()
+
 target_link_libraries(ImageLib PUBLIC YARP::YARP_OS
                                       YARP::YARP_dev
                                       YARP::YARP_sig
diff --git a/src/libraries/MusicLib/CMakeLists.txt b/src/libraries/MusicLib/CMakeLists.txt
index d805a525..1971c502 100644
--- a/src/libraries/MusicLib/CMakeLists.txt
+++ b/src/libraries/MusicLib/CMakeLists.txt
@@ -2,7 +2,6 @@
 # CopyPolicy: released under the terms of the LGPLv2.1, see LICENSE at project root.
 # URL: https://github.com/asrob-uc3m/robotDevastation
 
-find_package(YARP REQUIRED)
 find_package(SDL2 REQUIRED)
 find_package(SDL2_mixer REQUIRED)
 
@@ -16,10 +15,13 @@ add_library(MusicLib AudioManager.hpp
 add_dependencies(MusicLib COLOR_DEBUG)
 
 target_include_directories(MusicLib PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}
-                                           ${YARP_INCLUDE_DIRS}
                                            ${SDL2_INCLUDE_DIR}
                                            ${SDL2_MIXER_INCLUDE_DIRS})
 
+if(YARP_VERSION_SHORT VERSION_LESS 2.3.70)
+    target_include_directories(MusicLib PUBLIC ${YARP_INCLUDE_DIRS})
+endif()
+
 target_link_libraries(MusicLib PUBLIC YARP::YARP_OS
                                       ${SDL2_LIBRARY}
                                       ${SDL2_MIXER_LIBRARIES})
diff --git a/src/libraries/NetworkLib/CMakeLists.txt b/src/libraries/NetworkLib/CMakeLists.txt
index 5c803847..bb2aa66f 100644
--- a/src/libraries/NetworkLib/CMakeLists.txt
+++ b/src/libraries/NetworkLib/CMakeLists.txt
@@ -2,8 +2,6 @@
 # CopyPolicy: released under the terms of the LGPLv2.1, see LICENSE at project root.
 # URL: https://github.com/asrob-uc3m/robotDevastation
 
-find_package(YARP REQUIRED)
-
 add_library(NetworkLib MockNetworkEventListener.hpp
                        MockNetworkEventListener.cpp
                        MockNetworkManager.hpp
@@ -16,8 +14,12 @@ add_library(NetworkLib MockNetworkEventListener.hpp
 
 add_dependencies(NetworkLib COLOR_DEBUG)
 
-target_include_directories(NetworkLib PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}
-                                             ${YARP_INCLUDE_DIRS})
+target_include_directories(NetworkLib PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+
+if(YARP_VERSION_SHORT VERSION_LESS 2.3.70)
+    target_include_directories(NetworkLib PUBLIC ${YARP_INCLUDE_DIRS})
+endif()
+
 
 target_link_libraries(NetworkLib PUBLIC YARP::YARP_OS
                                         MentalMapLib)
diff --git a/src/libraries/RobotLib/CMakeLists.txt b/src/libraries/RobotLib/CMakeLists.txt
index 03c41ae4..1f1a5229 100644
--- a/src/libraries/RobotLib/CMakeLists.txt
+++ b/src/libraries/RobotLib/CMakeLists.txt
@@ -2,14 +2,15 @@
 # CopyPolicy: released under the terms of the LGPLv2.1, see LICENSE at project root.
 # URL: https://github.com/asrob-uc3m/robotDevastation
 
-find_package(YARP REQUIRED)
-
 add_library(RobotLib MockRobotManager.cpp
                      MockRobotManager.hpp)
 
 add_dependencies(RobotLib COLOR_DEBUG ASROB_YARP_DEVICES)
 
-target_include_directories(RobotLib PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}
-                                           ${YARP_INCLUDE_DIRS})
+target_include_directories(RobotLib PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+
+if(YARP_VERSION_SHORT VERSION_LESS 2.3.70)
+    target_include_directories(RobotLib PUBLIC ${YARP_INCLUDE_DIRS})
+endif()
 
 target_link_libraries(RobotLib PUBLIC ASROB::RobotInterfaces)
diff --git a/src/libraries/ServerLib/CMakeLists.txt b/src/libraries/ServerLib/CMakeLists.txt
index 03f3032e..69daf751 100644
--- a/src/libraries/ServerLib/CMakeLists.txt
+++ b/src/libraries/ServerLib/CMakeLists.txt
@@ -2,8 +2,6 @@
 # CopyPolicy: released under the terms of the LGPLv2.1, see LICENSE at project root.
 # URL: https://github.com/asrob-uc3m/robotDevastation
 
-find_package(YARP REQUIRED)
-
 add_library(ServerLib RpcResponder.hpp
                       RpcResponder.cpp
                       Server.hpp
@@ -11,8 +9,11 @@ add_library(ServerLib RpcResponder.hpp
 
 add_dependencies(ServerLib COLOR_DEBUG)
 
-target_include_directories(ServerLib PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}
-                                            ${YARP_INCLUDE_DIRS})
+target_include_directories(ServerLib PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+
+if(YARP_VERSION_SHORT VERSION_LESS 2.3.70)
+    target_include_directories(ServerLib PUBLIC ${YARP_INCLUDE_DIRS})
+endif()
 
 target_link_libraries(ServerLib PUBLIC YARP::YARP_OS
                                        MentalMapLib)
diff --git a/src/libraries/StateMachineLib/CMakeLists.txt b/src/libraries/StateMachineLib/CMakeLists.txt
index 9cba432a..d3e5003e 100644
--- a/src/libraries/StateMachineLib/CMakeLists.txt
+++ b/src/libraries/StateMachineLib/CMakeLists.txt
@@ -2,8 +2,6 @@
 # CopyPolicy: released under the terms of the LGPLv2.1, see LICENSE at project root.
 # URL: https://github.com/asrob-uc3m/robotDevastation
 
-find_package(YARP REQUIRED)
-
 add_library(StateMachineLib MockState.hpp
                             MockState.cpp
                             State.hpp
@@ -19,7 +17,10 @@ add_library(StateMachineLib MockState.hpp
 
 add_dependencies(StateMachineLib COLOR_DEBUG)
 
-target_include_directories(StateMachineLib PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}
-                                                  ${YARP_INCLUDE_DIRS})
+target_include_directories(StateMachineLib PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+
+if(YARP_VERSION_SHORT VERSION_LESS 2.3.70)
+    target_include_directories(StateMachineLib PUBLIC ${YARP_INCLUDE_DIRS})
+endif()
 
 target_link_libraries(StateMachineLib PUBLIC YARP::YARP_OS)
diff --git a/src/libraries/UserInterfaceLib/CMakeLists.txt b/src/libraries/UserInterfaceLib/CMakeLists.txt
index 561b0290..fd3ebf52 100644
--- a/src/libraries/UserInterfaceLib/CMakeLists.txt
+++ b/src/libraries/UserInterfaceLib/CMakeLists.txt
@@ -2,8 +2,6 @@
 # CopyPolicy: released under the terms of the LGPLv2.1, see LICENSE at project root.
 # URL: https://github.com/asrob-uc3m/robotDevastation
 
-find_package(YARP REQUIRED)
-
 find_package(SDL2 REQUIRED)
 find_package(SDL2_image REQUIRED)
 find_package(SDL2_ttf REQUIRED)
@@ -26,10 +24,13 @@ add_library(UserInterfaceLib DeadScreen.hpp
 add_dependencies(UserInterfaceLib COLOR_DEBUG)
 
 target_include_directories(UserInterfaceLib PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}
-                                                   ${YARP_INCLUDE_DIRS}
                                                    ${SDL2_INCLUDE_DIR}
                                                    ${SDL2_TTF_INCLUDE_DIRS})
 
+if(YARP_VERSION_SHORT VERSION_LESS 2.3.70)
+    target_include_directories(UserInterfaceLib PUBLIC ${YARP_INCLUDE_DIRS})
+endif()
+
 target_include_directories(UserInterfaceLib PRIVATE ${SDL2_IMAGE_INCLUDE_DIRS})
 
 target_link_libraries(UserInterfaceLib PUBLIC YARP::YARP_OS
diff --git a/src/libraries/UtilsLib/CMakeLists.txt b/src/libraries/UtilsLib/CMakeLists.txt
index 2105a57e..20a9f349 100644
--- a/src/libraries/UtilsLib/CMakeLists.txt
+++ b/src/libraries/UtilsLib/CMakeLists.txt
@@ -2,8 +2,6 @@
 # CopyPolicy: released under the terms of the LGPLv2.1, see LICENSE at project root.
 # URL: https://github.com/asrob-uc3m/robotDevastation
 
-find_package(YARP REQUIRED)
-
 find_package(SDL2 REQUIRED)
 find_package(SDL2_image REQUIRED)
 find_package(SDL2_ttf REQUIRED)
@@ -18,9 +16,12 @@ add_library(UtilsLib Hub.hpp
 add_dependencies(UtilsLib COLOR_DEBUG ASROB_YARP_DEVICES)
 
 target_include_directories(UtilsLib PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}
-                                           ${YARP_INCLUDE_DIRS}
                                            ${SDL2_INCLUDE_DIR})
 
+if(YARP_VERSION_SHORT VERSION_LESS 2.3.70)
+    target_include_directories(UtilsLib PUBLIC ${YARP_INCLUDE_DIRS})
+endif()
+
 target_include_directories(UtilsLib PRIVATE ${SDL2_IMAGE_INCLUDE_DIR}
                                             ${SDL2_TTF_INCLUDE_DIR})
 
diff --git a/src/programs/rdServer/CMakeLists.txt b/src/programs/rdServer/CMakeLists.txt
index 8b94cae0..31eca0fa 100644
--- a/src/programs/rdServer/CMakeLists.txt
+++ b/src/programs/rdServer/CMakeLists.txt
@@ -6,15 +6,14 @@ option(ENABLE_rdServer "Choose if you want to compile rdServer" ON)
 
 if(ENABLE_rdServer)
 
-# Find YARP.  Point the YARP_DIR environment variable at your build.
-find_package(YARP REQUIRED)
-
 # Set up our main executable.
 add_executable(rdServer main.cpp)
 
 add_dependencies(rdServer COLOR_DEBUG)
 
-target_include_directories(rdServer PUBLIC ${YARP_INCLUDE_DIRS})
+if(YARP_VERSION_SHORT VERSION_LESS 2.3.70)
+    target_include_directories(rdServer PUBLIC ${YARP_INCLUDE_DIRS})
+endif()
 
 target_link_libraries(rdServer YARP::YARP_init
                                YARP::YARP_OS
diff --git a/src/programs/robotDevastation/CMakeLists.txt b/src/programs/robotDevastation/CMakeLists.txt
index 7c24ae1d..c141dc8d 100644
--- a/src/programs/robotDevastation/CMakeLists.txt
+++ b/src/programs/robotDevastation/CMakeLists.txt
@@ -6,17 +6,17 @@ option(ENABLE_robotDevastation "Choose if you want to compile robotDevastation"
 
 if(ENABLE_robotDevastation)
 
-# Find YARP.  Point the YARP_DIR environment variable at your build.
-find_package(YARP REQUIRED)
-
 add_executable(robotDevastation main.cpp
                                 RobotDevastation.hpp
                                 RobotDevastation.cpp)
 
 add_dependencies(robotDevastation COLOR_DEBUG ASROB_YARP_DEVICES)
 
-target_include_directories(robotDevastation PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}
-                                                   ${YARP_INCLUDE_DIRS})
+target_include_directories(robotDevastation PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+
+if(YARP_VERSION_SHORT VERSION_LESS 2.3.70)
+    target_include_directories(robotDevastation PUBLIC ${YARP_INCLUDE_DIRS})
+endif()
 
 target_link_libraries(robotDevastation YARP::YARP_OS
                                        MusicLib
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index 09348e69..feabbfcc 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -16,7 +16,6 @@ if(ENABLE_tests)
 set(gtest_force_shared_crt ON CACHE INTERNAL "") # needed for Windows
 add_subdirectory(${GTestSources_SOURCE_DIR} ${CMAKE_BINARY_DIR}/gtest)
 
-find_package(YARP REQUIRED)
 find_package(SDL2 REQUIRED)
 find_package(SDL2_image REQUIRED)
 find_package(SDL2_ttf REQUIRED)