diff --git a/CMakeLists.txt b/CMakeLists.txt
index a04fa6b..8a774ac 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -36,17 +36,19 @@ endif()
 list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake
                               ${CMAKE_SOURCE_DIR}/cmake/find-modules)
 
-# Search for project's hard dependencies.
+# Hard dependencies.
 find_package(YCM 0.8 REQUIRED)
-
 # https://github.com/roboticslab-uc3m/questions-and-answers/issues/65
 find_package(YARP 3.0 QUIET COMPONENTS OS dev)
 if(NOT YARP_FOUND)
     find_package(YARP 2.3.70 REQUIRED)
 endif()
-
 find_package(COLOR_DEBUG REQUIRED)
 
+# Soft dependencies.
+find_package(LibSerial 0.6 QUIET)
+find_package(wiringPi QUIET)
+
 # Always build YARP devices as MODULE libraries.
 set(YARP_FORCE_DYNAMIC_PLUGINS TRUE CACHE INTERNAL "Force dynamic plugins")
 
diff --git a/libraries/YarpPlugins/EcroPwmController/CMakeLists.txt b/libraries/YarpPlugins/EcroPwmController/CMakeLists.txt
index 05cef0f..367f93f 100644
--- a/libraries/YarpPlugins/EcroPwmController/CMakeLists.txt
+++ b/libraries/YarpPlugins/EcroPwmController/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/yarp-devices
 
-find_package(LibSerial 0.6 QUIET)
-
 if(NOT LibSerial_FOUND AND (NOT DEFINED ENABLE_EcroPwmController OR ENABLE_EcroPwmController))
     message(WARNING "LibSerial package not found, disabling EcroPwmController device")
 endif()
diff --git a/libraries/YarpPlugins/EcroWheelController/CMakeLists.txt b/libraries/YarpPlugins/EcroWheelController/CMakeLists.txt
index 5dcc989..9fa11ae 100644
--- a/libraries/YarpPlugins/EcroWheelController/CMakeLists.txt
+++ b/libraries/YarpPlugins/EcroWheelController/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/yarp-devices
 
-find_package(LibSerial 0.6 QUIET)
-
 if(NOT LibSerial_FOUND AND (NOT DEFINED ENABLE_EcroWheelController OR ENABLE_EcroWheelController))
     message(WARNING "LibSerial package not found, disabling EcroWheelController device")
 endif()
diff --git a/libraries/YarpPlugins/LaserTowerOfDeathController/CMakeLists.txt b/libraries/YarpPlugins/LaserTowerOfDeathController/CMakeLists.txt
index 3cbfeef..6177e59 100644
--- a/libraries/YarpPlugins/LaserTowerOfDeathController/CMakeLists.txt
+++ b/libraries/YarpPlugins/LaserTowerOfDeathController/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/yarp-devices
 
-find_package(LibSerial 0.6 QUIET)
-
 if(NOT LibSerial_FOUND AND (NOT DEFINED ENABLE_LaserTowerOfDeathController OR ENABLE_LaserTowerOfDeathController))
     message(WARNING "LibSerial package not found, disabling LaserTowerOfDeathController device")
 endif()
diff --git a/libraries/YarpPlugins/RaspiTwoPwmMotorController/CMakeLists.txt b/libraries/YarpPlugins/RaspiTwoPwmMotorController/CMakeLists.txt
index 142427d..31512d7 100644
--- a/libraries/YarpPlugins/RaspiTwoPwmMotorController/CMakeLists.txt
+++ b/libraries/YarpPlugins/RaspiTwoPwmMotorController/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/yarp-devices
 
-find_package(wiringPi QUIET)
-
 if(NOT wiringPi_FOUND AND (NOT DEFINED ENABLE_RaspiTwoPwmMotorController OR ENABLE_RaspiTwoPwmMotorController))
     message(WARNING "wiringPi package not found, disabling RaspiTwoPwmMotorController device")
 endif()