diff --git a/.travis.yml b/.travis.yml
index 1249a9b34..9af3297cf 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -10,7 +10,7 @@ compiler:
 
 before_install:
   - sudo apt-get -qq update # -qq No output except for errors
-  - '[[ "$TRAVIS_EVENT_TYPE" = cron ]] && export YARP_CHECKOUT=devel || export YARP_CHECKOUT=master'
+  - '[[ "$TRAVIS_EVENT_TYPE" = cron ]] && export ROBOTOLOGY_CHECKOUT=devel || export ROBOTOLOGY_CHECKOUT=master'
 
   #-- Register SSH deploy key for AMOR API private repository
   #-- https://gist.github.com/lukewpatterson/4242707#gistcomment-2382443
@@ -33,8 +33,15 @@ install:
   - cmake ..
   - sudo make install
   - cd ../..
+  #-- Install ycm
+  - git clone --branch="$ROBOTOLOGY_CHECKOUT" https://github.com/robotology/ycm
+  - cd ycm && mkdir build && cd build
+  - cmake ..
+  - make -j$(nproc)
+  - sudo make install
+  - cd ../..
   #-- Install yarp
-  - git clone --branch="$YARP_CHECKOUT" https://github.com/robotology/yarp
+  - git clone --branch="$ROBOTOLOGY_CHECKOUT" https://github.com/robotology/yarp
   - cd yarp && mkdir build && cd build
   - cmake .. -DSKIP_ACE=ON
   - make -j$(nproc)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 74487a547..2d256e5d2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -37,12 +37,21 @@ endif()
 
 # Pick up our CMake modules.
 list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake
-                              ${CMAKE_SOURCE_DIR}/cmake/find-modules
-                              ${CMAKE_SOURCE_DIR}/cmake/ycm-modules)
+                              ${CMAKE_SOURCE_DIR}/cmake/find-modules)
 
-# Bootstrap YCM. Keep it compatible with cmake_minimum_required().
-set(YCM_TAG v0.6.0)
-include(YCMBootstrap)
+# Find project's hard dependencies.
+find_package(YCM 0.6 REQUIRED)
+
+# https://github.com/roboticslab-uc3m/questions-and-answers/issues/65
+find_package(YARP 3.0 QUIET COMPONENTS OS dev sig)
+if(NOT YARP_FOUND)
+    find_package(YARP 2.3.70 REQUIRED)
+endif()
+
+find_package(COLOR_DEBUG REQUIRED)
+
+# Configure installation paths for YARP resources.
+yarp_configure_external_installation(roboticslab-yarp-devices WITH_PLUGINS)
 
 # Standard installation directories.
 include(GNUInstallDirs)
@@ -68,18 +77,6 @@ set_property(GLOBAL PROPERTY ROBOTICSLAB_YARP_DEVICES_TARGETS)
 # Create targets if specific requirements are satisfied.
 include(CMakeDependentOption)
 
-# Find project's hard dependencies.
-find_package(COLOR_DEBUG REQUIRED)
-
-# https://github.com/roboticslab-uc3m/questions-and-answers/issues/65
-find_package(YARP 3.0 QUIET COMPONENTS OS dev sig)
-if(NOT YARP_FOUND)
-    find_package(YARP 2.3.70 REQUIRED)
-endif()
-
-# Configure installation paths for YARP resources.
-yarp_configure_external_installation(roboticslab-yarp-devices WITH_PLUGINS)
-
 # Add main contents.
 add_subdirectory(cmake)
 add_subdirectory(libraries)
diff --git a/cmake/ycm-modules/IncludeUrl.cmake b/cmake/ycm-modules/IncludeUrl.cmake
deleted file mode 100644
index 15a07ceb6..000000000
--- a/cmake/ycm-modules/IncludeUrl.cmake
+++ /dev/null
@@ -1,419 +0,0 @@
-#.rst:
-# IncludeUrl
-# ----------
-#
-# Adds the :command:`include_url` command that useful to download and include
-# other CMake modules from a given url.
-#
-# .. command:: include_url
-#
-# Downloads a file from given url and includes it::
-#
-#  include_url(<url>                 # Url to be downloaded
-#     [DESTINATION <destination>]    # Where the file will be saved
-#     [EXPECTED_HASH <ALGO=value>]   # Verify downloaded file's hash
-#     [EXPECTED_MD5 <sum>]           # Short-hand for "EXPECTED_HASH MD5=sum"
-#     [DOWNLOAD_ONCE]                # Download the file only once
-#     [DOWNLOAD_ALWAYS]              # Download the file every time
-#     [OPTIONAL]                     # Do not fail file cannot be included
-#     [RESULT_VARIABLE <variable>]   # The local path for the file included
-#     [RETRIES <retries>]            # Try download <retries> times (default 3)
-#     [QUIET]                        # Don't print anything
-#    #--Download arguments-----------
-#     [INACTIVITY_TIMEOUT <timeout>] # Timeout after <timeout> seconds of inactivity
-#     [TIMEOUT <timeout>]            # Timeout after <timeout> seconds
-#     [STATUS <status>]              # Download status variable
-#     [LOG <log>]                    # Download log variable
-#     [SHOW_PROGRESS]                # Show download progress
-#     [TLS_VERIFY <on|off>]          # Check certificates
-#     [TLS_CAINFO <file>]            # Custom Certificate Authority file
-#    #--Include arguments------------
-#     [NO_POLICY_SCOPE]              # Do not manage a new policy entry
-#     )
-#
-# The ``include_url`` macro downloads a file from given url and includes it.
-# It works both in -P script mode and when configuring a CMakeLists.txt file.
-#
-# If ``DESTINATION`` is specified, the file is saved at the given location with
-# the original  file name, if ``<destination>`` is a directory, or with the
-# given file  name, if ``<destination>`` is a file name.
-#
-# The arguments ``EXPECTED_HASH``, ``EXPECTED_MD5`` are used to ensure that the
-# file included is the one expected. If the ``<url>`` is a local file (i.e.
-# starts with ``file://``) the hash check is performed also on the file
-# converted to the non-native end-of-line style.  See the documentation of the
-# :command:`file()` command for further information about these arguments.
-#
-# If the ``DOWNLOAD_ONCE`` option is specified, the file is not
-# downloaded if the file already exists and the hash is correct.
-# If the ``DOWNLOAD_ALWAYS`` option is specified, the file is downloaded at
-# every CMake execution, and an error is raised on failure.
-# If none of these two option is specifies, the default behaviour is to try to
-# download the file at every CMake execution, but no error is raised if the
-# download fails if a version of the file already exists. This is useful when
-# CMake should try to update the file to the latest version, before including
-# it.
-#
-# If the ``OPTIONAL`` option is specified, no error will be caused if for any
-# reason the file cannot be downloaded or included.
-# If ``RESULT_VARIABLE`` is given, the variable will be set to the full
-# filename which has been downloaded and included or NOTFOUND if it failed.
-# See the documentation of the :command:`file()` command for further information
-# about these arguments.
-#
-# If the ``RETRIES`` option is specified, the download will be tried
-# If the ``QUIET`` option is specified, the command will emit no output.
-#
-# The arguments ``INACTIVITY_TIMEOUT``, ``TIMEOUT``, ``STATUS``, ``LOG``,
-# ``SHOW_PROGRESS``, ``TLS_VERIFY``, and ``TLS_CAINFO`` are passed to the
-# :command:`file(DOWNLOAD)` command.  See the documentation of the
-# :command:`file()` command for a detailed description of these arguments.
-#
-# The arguments ``NO_POLICY_SCOPE`` is passed to the :command:`include()`
-# command.  See the documentation of the :command:`include()` and
-# :command:`cmake_policy()` commands for a detailed description of this
-# argument.
-
-#=============================================================================
-# Copyright 2013-2015 Istituto Italiano di Tecnologia (IIT)
-# Copyright 2013-2015 Daniele E. Domenichelli <ddomenichelli@drdanz.it>
-#
-# Distributed under the OSI-approved BSD License (the "License");
-# see accompanying file Copyright.txt for details.
-#
-# This software is distributed WITHOUT ANY WARRANTY; without even the
-# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
-# See the License for more information.
-#=============================================================================
-# (To distribute this file outside of CMake, substitute the full
-#  License text for the above reference.)
-
-
-if(DEFINED __INCLUDE_URL_INCLUDED)
-  return()
-endif()
-set(__INCLUDE_URL_INCLUDED TRUE)
-
-
-include(CMakeParseArguments)
-
-# This must be a macro and not a function in order not to enclose in a
-# new scope the variables added by the included files.
-macro(INCLUDE_URL _remoteFile)
-
-  set(_downloadOptions SHOW_PROGRESS)
-  set(_downloadOneValueArgs INACTIVITY_TIMEOUT
-                            TIMEOUT
-                            LOG
-                            EXPECTED_HASH
-                            EXPECTED_MD5
-                            TLS_VERIFY
-                            TLS_CAINFO
-                            RETRIES)
-  set(_includeOptions NO_POLICY_SCOPE)
-  set(_includeOneValueArgs RESULT_VARIABLE)
-
-  set(_options DOWNLOAD_ONCE
-               DOWNLOAD_ALWAYS
-               QUIET
-               OPTIONAL
-               ${_downloadOptions}
-               ${_includeOptions})
-  set(_oneValueArgs DESTINATION
-                    STATUS
-                    ${_downloadOneValueArgs}
-                    ${_includeOneValueArgs})
-  set(_multiValueArgs )
-
-  cmake_parse_arguments(_IU "${_options}" "${_oneValueArgs}" "${_multiValueArgs}" "${ARGN}")
-
-  if(DEFINED _IU_UNPARSED_ARGUMENTS)
-    message(FATAL_ERROR "Unknown arguments:\n  ${_IU_UNPARSED_ARGUMENTS}\n")
-  endif()
-
-  if(_IU_DOWNLOAD_ONCE AND _IU_DOWNLOAD_ALWAYS)
-    message(FATAL_ERROR "DOWNLOAD_ONCE and DOWNLOAD_ALWAYS cannot be specified at the same time")
-  endif()
-
-  if(NOT DEFINED _IU_RETRIES)
-    set(_retries 3)
-  elseif(NOT "${_IU_RETRIES}" MATCHES "^[1-9][0-9]*")
-    message(FATAL_ERROR "RETRIES argument should be a number greater ot equal than 1. Found \"${_IU_RETRIES}\"")
-  else()
-    set(_retries ${_IU_RETRIES})
-  endif()
-
-  # Find a suitable temp folder (used only in script mode)
-  if(DEFINED CMAKE_SCRIPT_MODE_FILE)
-    set(_tempFolder "${CMAKE_CURRENT_LIST_DIR}")
-    if(CMAKE_HOST_WIN32)
-      if(IS_DIRECTORY "$ENV{TMP}")
-        set(_tempFolder "$ENV{TMP}")
-      elseif(IS_DIRECTORY "$ENV{TEMP}")
-        set(_tempFolder "$ENV{TEMP}")
-      endif()
-    elseif(CMAKE_HOST_APPLE)
-      if(IS_DIRECTORY "$ENV{TMPDIR}")
-        set(_tempFolder "$ENV{TMPDIR}")
-      endif()
-    else()
-      if(IS_DIRECTORY "/tmp")
-        set(_tempFolder "/tmp")
-      endif()
-    endif()
-  endif()
-
-  get_filename_component(_filename ${_remoteFile} NAME)
-  if(DEFINED _IU_DESTINATION)
-    if(IS_DIRECTORY ${_IU_DESTINATION})
-      set(_localFile "${_IU_DESTINATION}/${_filename}")
-    else()
-      set(_localFile "${_IU_DESTINATION}")
-    endif()
-  elseif(DEFINED CMAKE_SCRIPT_MODE_FILE)
-    set(_localFile "${_tempFolder}/${_filename}")
-  else()
-    set(_localFile ${CMAKE_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/${_filename})
-    set_property(DIRECTORY APPEND PROPERTY ADDITIONAL_MAKE_CLEAN_FILES "${_localFile}")
-  endif()
-  set(_lockFile "${_localFile}.cmake")
-
-  if(DEFINED CMAKE_SCRIPT_MODE_FILE)
-    string(RANDOM LENGTH 8 _rand)
-    set(_bakDir "${_tempFolder}/${_rand}/")
-  else()
-    set(_bakDir ${CMAKE_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/CMakeTmp/)
-  endif()
-  set(_bakFile ${_bakDir}${_filename})
-
-  set(_downloadArgs STATUS _downloadResult)
-  foreach(_arg ${_downloadOptions})
-    if(_IU_${_arg})
-      list(APPEND _downloadArgs ${_arg})
-    endif()
-  endforeach()
-  foreach(_arg ${_downloadOneValueArgs})
-    # If the file is local, the hash check is disabled, since this could fail
-    # because of different end of line styles
-    if(DEFINED _IU_${_arg} AND NOT ("${_remoteFile}" MATCHES "^file://" AND "${_arg}" MATCHES "^(EXPECTED_HASH|EXPECTED_MD5)$"))
-      list(APPEND _downloadArgs ${_arg} ${_IU_${_arg}})
-    endif()
-  endforeach()
-
-  set(_includeArgs )
-  foreach(_arg OPTIONAL ${_includeOptions})
-    if(_IU_${_arg})
-      list(APPEND _includeArgs ${_arg})
-    endif()
-  endforeach()
-  foreach(_arg ${_includeOneValueArgs})
-    if(DEFINED _IU_${_arg})
-      list(APPEND _includeArgs ${_arg} ${_IU_${_arg}})
-    endif()
-  endforeach()
-
-  set(_shouldCheckHash 0)
-  unset(_algorithm)
-  unset(_expectedHash)
-  if(DEFINED _IU_EXPECTED_HASH  OR  DEFINED _IU_EXPECTED_MD5)
-    set(_shouldCheckHash 1)
-    if(DEFINED _IU_EXPECTED_HASH)
-      if("${_IU_EXPECTED_HASH}" MATCHES "^(.+)=([0-9a-fA-F]+)$")
-        set(_algorithm ${CMAKE_MATCH_1})
-        set(_expectedHash ${CMAKE_MATCH_2})
-      else()
-        message(FATAL_ERROR "include_url EXPECTED_HASH expects ALGO=value but got: ${_IU_EXPECTED_HASH}")
-      endif()
-      if(NOT ${_algorithm} MATCHES "^(MD5|SHA1|SHA224|SHA256|SHA384|SHA512)$")
-        message(FATAL_ERROR "include_url EXPECTED_HASH given unknown ALGO: ${_algorithm}")
-      endif()
-    else()
-      set(_algorithm MD5)
-      set(_expectedHash ${_IU_EXPECTED_MD5})
-    endif()
-  endif()
-
-  # Lock the file, in case 2 different processes are downloading the same file
-  # at the time
-  # file(LOCK) was added in CMake 3.2, therefore calling it in older version
-  # will fail.
-  if(NOT CMAKE_VERSION VERSION_LESS 3.2)
-    file(LOCK "${_lockFile}")
-  endif()
-
-  set(_shouldDownload 0)
-  set(_shouldFail 0)
-  if(NOT EXISTS "${_localFile}" OR _IU_DOWNLOAD_ALWAYS)
-    set(_shouldDownload 1)
-    set(_shouldFail 1)
-  elseif(_IU_DOWNLOAD_ONCE)
-    if(_shouldCheckHash)
-      file(${_algorithm} "${_localFile}" _hash)
-      if(NOT "${_hash}" STREQUAL "${_expectedHash}")
-        set(_shouldDownload 1)
-        set(_shouldFail 1)
-      endif()
-    endif()
-  else()
-    set(_shouldDownload 1)
-  endif()
-
-  if(_IU_OPTIONAL)
-    set(_shouldFail 0)
-  endif()
-
-  if(_shouldDownload)
-    if(EXISTS "${_localFile}" AND NOT _IU_DOWNLOAD_ALWAYS)
-      # Unless DOWNLOAD_ALWAYS is specified, a copy of an eventual
-      # existing file is saved and possibly restored later.
-      file(MAKE_DIRECTORY ${_bakDir})
-      file(RENAME "${_localFile}" "${_bakFile}")
-    endif()
-
-
-    set(_attempt 0)
-    set(_succeeded 0)
-    while(${_attempt} LESS ${_retries} AND NOT ${_succeeded})
-      math(EXPR _attempt "${_attempt}+1")
-      if(NOT _IU_QUIET)
-        message(STATUS "Downloading ${_filename} - Attempt ${_attempt} of ${_retries}")
-      endif()
-      file(DOWNLOAD ${_remoteFile} "${_localFile}" ${_downloadArgs})
-
-      # Set the LOG and the STATUS variables if requested by the user
-      if(DEFINED _IU_LOG)
-        set(${_IU_LOG} ${${_IU_LOG}})
-      endif()
-
-      if(DEFINED _IU_STATUS)
-        set(${_IU_STATUS} ${_downloadResult})
-      endif()
-
-      unset(_error_message)
-      list(GET _downloadResult 0 _downloadResult_0)
-
-      if(NOT _downloadResult_0 EQUAL 0)
-        list(GET _downloadResult 1 _downloadResult_1)
-        set(_error_message "Downloading ${_filename} - ERROR ${_downloadResult_0}: ${_downloadResult_1}")
-      else()
-        # CMake does not give a fatal error if hash of the downloaded file
-        # has a wrong hash. A new check is required in order not to include
-        # a "faulty" file (it could be a security issue).
-        if(_shouldCheckHash)
-          file(${_algorithm} "${_localFile}" _hash)
-          if(NOT "${_hash}" STREQUAL "${_expectedHash}")
-            set(_error_message
-"include_url HASH mismatch
-   for file: [${_localFile}]
-    expected hash: [${_expectedHash}]
-      actual hash: [${_hash}]
-")
-            if(NOT ("${_remoteFile}" MATCHES "^file://" AND "${_arg}" MATCHES "^(EXPECTED_HASH|EXPECTED_MD5)$"))
-              # Check again he hash using the non-native end-of-line style
-              file(READ "${_localFile}" _content)
-              if(CMAKE_HOST_WIN32)
-                string(REPLACE "/r/n" "/n" _content "${_content}")
-              else()
-                string(REPLACE "/n" "/r/n" _content "${_content}")
-              endif()
-              string(${_algorithm} _hash "${_content}")
-              if("${_hash}" STREQUAL "${_expectedHash}")
-                # This is the same file but with changed end-of-line
-                # Do not print the error message
-                unset(_error_message)
-              endif()
-            endif()
-          endif()
-        endif()
-      endif()
-      if(NOT DEFINED _error_message)
-        set(_succeeded 1)
-      else()
-        if(${_attempt} LESS ${_retries})
-          if(NOT _IU_QUIET)
-            message(STATUS "${_error_message}")
-          endif()
-          file(REMOVE "${_localFile}")
-        endif()
-      endif()
-    endwhile()
-
-    if(DEFINED _error_message)
-      # There was a problem during download. Remove the faulty file to be sure
-      # that we'll never include it
-      file(REMOVE "${_localFile}")
-      if(_shouldFail  OR  (NOT EXISTS "${_bakFile}" AND NOT _IU_OPTIONAL))
-        # Remove backup file if exists
-        file(REMOVE "${_bakFile}")
-        message(FATAL_ERROR ${_error_message})
-      else()
-        if(NOT _IU_QUIET)
-          message(STATUS ${_error_message})
-        endif()
-      endif()
-    else()
-      if(NOT _IU_QUIET)
-        message(STATUS "Downloading ${_filename} - SUCCESS")
-      endif()
-    endif()
-
-    # If download failed, restore the previous version of the file.
-    if(NOT EXISTS "${_localFile}" AND EXISTS "${_bakFile}")
-      file(RENAME "${_bakFile}" "${_localFile}")
-    else()
-      file(REMOVE "${_bakFile}")
-    endif()
-  else()
-    if(DEFINED _IU_STATUS)
-      set(${_IU_STATUS} "0")
-    endif()
-  endif()
-
-  # Download is finished, we can now release the lock
-  if(NOT CMAKE_VERSION VERSION_LESS 3.2)
-    file(LOCK "${_lockFile}" RELEASE)
-  endif()
-
-  if(NOT EXISTS "${_localFile}" AND NOT _IU_OPTIONAL)
-    message(FATAL_ERROR "Downloaded file does not exist. Please report this as a bug")
-  endif()
-  include("${_localFile}" ${_includeArgs})
-
-  # Set the RESULT_VARIABLE variable if requested by the user
-  if(DEFINED _IU_RESULT_VARIABLE)
-    set(${_IU_RESULT_VARIABLE} ${${_IU_RESULT_VARIABLE}})
-  endif()
-
-  # Unset all used variables
-  unset(_downloadOptions)
-  unset(_downloadOneValueArgs)
-  unset(_includeOptions)
-  unset(_includeOneValueArgs)
-  unset(_options)
-  unset(_oneValueArgs)
-  unset(_multiValueArgs)
-  foreach(_arg "${_options}" "${_oneValueArgs}" "${_multiValueArgs}")
-    unset(_IU_${_arg})
-  endforeach()
-  unset(_tempFolder)
-  unset(_filename)
-  unset(_localFile)
-  unset(_bakDir)
-  unset(_bakFile)
-  unset(_downloadArgs)
-  unset(_downloadResult)
-  unset(_downloadResult_0)
-  unset(_downloadResult_1)
-  unset(_includeArgs)
-  unset(_shouldCheckHash)
-  unset(_algorithm)
-  unset(_expectedHash)
-  unset(_hash)
-  unset(_shouldDownload)
-  unset(_shouldFail)
-  unset(_content)
-  unset(_error_message)
-  unset(_attempt)
-  unset(_succeeded)
-  unset(_retries)
-endmacro()
diff --git a/cmake/ycm-modules/YCMBootstrap.cmake b/cmake/ycm-modules/YCMBootstrap.cmake
deleted file mode 100644
index 5be2fe30c..000000000
--- a/cmake/ycm-modules/YCMBootstrap.cmake
+++ /dev/null
@@ -1,107 +0,0 @@
-#=============================================================================
-# Copyright 2013-2014 Istituto Italiano di Tecnologia (IIT)
-#   Authors: Daniele E. Domenichelli <daniele.domenichelli@iit.it>
-#
-# Distributed under the OSI-approved BSD License (the "License");
-# see accompanying file Copyright.txt for details.
-#
-# This software is distributed WITHOUT ANY WARRANTY; without even the
-# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
-# See the License for more information.
-#=============================================================================
-# (To distribute this file outside of YCM, substitute the full
-#  License text for the above reference.)
-
-
-# This module is intentionally kept as small as possible in order to
-# avoid the spreading of different modules.
-#
-# The real bootstrap is performed by the ycm_bootstrap macro from the
-# YCMEPHelper module that is downloaded from the YCM package.
-
-
-if(DEFINED __YCMBOOTSTRAP_INCLUDED)
-  return()
-endif()
-set(__YCMBOOTSTRAP_INCLUDED TRUE)
-
-
-########################################################################
-# _YCM_CLEAN_PATH
-#
-# Internal function that removes a directory and its subfolder from an
-# environment variable.
-# This is useful because will stop CMake from finding the external
-# projects built in the main project on the second CMake run.
-#
-# _path: path that should be removed
-# _envvar: environment variable to clean
-
-function(_YCM_CLEAN_PATH _path _envvar)
-    get_filename_component(_path ${_path} REALPATH)
-    set(_var_new "")
-    if(NOT "$ENV{${_envvar}}" MATCHES "^$")
-        file(TO_CMAKE_PATH "$ENV{${_envvar}}" _var_old)
-        if(NOT WIN32)
-            # CMake handles correctly ":" except for the first character
-            string(REPLACE ":" ";" _var_old "${_var_old}")
-        endif()
-        foreach(_dir ${_var_old})
-            get_filename_component(_dir ${_dir} REALPATH)
-            if(NOT "${_dir}" MATCHES "^${_path}")
-                list(APPEND _var_new ${_dir})
-            endif()
-        endforeach()
-    endif()
-    list(REMOVE_DUPLICATES _var_new)
-    file(TO_NATIVE_PATH "${_var_new}" _var_new)
-    if(NOT WIN32)
-        string(REPLACE ";" ":" _var_new "${_var_new}")
-    endif()
-    set(ENV{${_envvar}} "${_var_new}")
-endfunction()
-
-
-# Remove binary dir from CMAKE_PREFIX_PATH and PATH before searching for
-# YCM, in order to avoid to find the YCM version bootstrapped by YCM
-# itself.
-_ycm_clean_path("${CMAKE_BINARY_DIR}/install" CMAKE_PREFIX_PATH)
-_ycm_clean_path("${CMAKE_BINARY_DIR}/install" PATH)
-
-
-# If the USE_SYSTEM_YCM is explicitly set to false, we just skip to bootstrap.
-if(NOT DEFINED USE_SYSTEM_YCM OR USE_SYSTEM_YCM)
-    find_package(YCM QUIET)
-    if(COMMAND set_package_properties)
-        set_package_properties(YCM PROPERTIES TYPE RECOMMENDED
-                                              PURPOSE "Used by the build system")
-    endif()
-    if(YCM_FOUND)
-        message(STATUS "YCM found in ${YCM_MODULE_DIR}.")
-        set_property(GLOBAL APPEND PROPERTY YCM_PROJECTS YCM)
-        return()
-    endif()
-endif()
-
-message(STATUS "YCM not found. Bootstrapping it.")
-
-set(YCM_BOOTSTRAP_BASE_ADDRESS "https://raw.githubusercontent.com/robotology/ycm/HEAD" CACHE STRING "Base address of YCM repository")
-# Replace old raw.github address to support existing builds
-if("${YCM_BOOTSTRAP_BASE_ADDRESS}" MATCHES "raw.github.com")
-    string(REPLACE "raw.github.com" "raw.githubusercontent.com" _tmp ${YCM_BOOTSTRAP_BASE_ADDRESS})
-    set_property(CACHE YCM_BOOTSTRAP_BASE_ADDRESS PROPERTY VALUE "${_tmp}")
-endif()
-# New github address does not accept "//" in the path, therefore we remove the last slash
-if("${YCM_BOOTSTRAP_BASE_ADDRESS}" MATCHES "/$")
-    string(REGEX REPLACE "/$" "" _tmp ${_tmp})
-    set_property(CACHE YCM_BOOTSTRAP_BASE_ADDRESS PROPERTY VALUE "${_tmp}")
-endif()
-mark_as_advanced(YCM_BOOTSTRAP_BASE_ADDRESS)
-
-if("${YCM_BOOTSTRAP_BASE_ADDRESS}" MATCHES "/HEAD$" AND YCM_TAG)
-    string(REGEX REPLACE "/HEAD$" "/${YCM_TAG}" YCM_BOOTSTRAP_BASE_ADDRESS ${YCM_BOOTSTRAP_BASE_ADDRESS})
-endif()
-
-include(IncludeUrl)
-include_url(${YCM_BOOTSTRAP_BASE_ADDRESS}/modules/YCMEPHelper.cmake)
-ycm_bootstrap()
diff --git a/doc/yarp-devices-install.md b/doc/yarp-devices-install.md
index 93a7f0407..0a7df39bd 100644
--- a/doc/yarp-devices-install.md
+++ b/doc/yarp-devices-install.md
@@ -1,6 +1,6 @@
 # Installation from Source Code
 
-This repository stores different YARP devices for different actual devices used in different robots. This huge variability in hardware sometimes makes it complicated to track the dependencies for each device you may want to compile and install. 
+This repository stores different YARP devices for different actual devices used in different robots. This huge variability in hardware sometimes makes it complicated to track the dependencies for each device you may want to compile and install.
 
 This guide aims to simplify as much as possible the process of finding out which are the dependencies you actually need to install for the devices you want to use.
 
@@ -12,12 +12,10 @@ Some of the devices require a specific OS version to work. This table tracks the
 
 Some dependencies must be installed for all the devices:
 
-  - [Install CMake](https://github.com/roboticslab-uc3m/installation-guides/blob/master/install-cmake.md)
-  - [Install YARP](https://github.com/roboticslab-uc3m/installation-guides/blob/master/install-yarp.md)
-
-Additionally, this project depends on YCM to download and build external packages. Although this process is intended to run automatically during the CMake configuration phase, you may still want to install YCM and said packages by yourself. In that respect, refer to [Install YCM](https://github.com/roboticslab-uc3m/installation-guides/blob/master/install-ycm.md) and to the installation guides of any package listed below:
-
-- [color-debug](https://github.com/roboticslab-uc3m/color-debug)
+- [Install CMake](https://github.com/roboticslab-uc3m/installation-guides/blob/master/install-cmake.md)
+- [Install YCM](https://github.com/roboticslab-uc3m/installation-guides/blob/master/install-ycm.md)
+- [Install YARP](https://github.com/roboticslab-uc3m/installation-guides/blob/master/install-yarp.md)
+- [Install color-debug](https://github.com/roboticslab-uc3m/color-debug)
 
 For unit testing, you'll need the googletest source package. Refer to [Install googletest](https://github.com/roboticslab-uc3m/installation-guides/blob/master/install-googletest.md).