diff --git a/plugins/robotinterface/CMakeLists.txt b/plugins/robotinterface/CMakeLists.txt
index 3af9d53..b5d2aa8 100644
--- a/plugins/robotinterface/CMakeLists.txt
+++ b/plugins/robotinterface/CMakeLists.txt
@@ -1,12 +1,13 @@
-
 add_library(gz-sim-yarp-robotinterface-system SHARED RobotInterface.cc)
+
 target_compile_features(gz-sim-yarp-robotinterface-system PRIVATE cxx_std_17)
 
 target_link_libraries(gz-sim-yarp-robotinterface-system
   PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
   PRIVATE gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
   PRIVATE
-    ${YARP_LIBRARIES}
+    YARP::YARP_dev
+    YARP::YARP_robotinterface
     YARP::YARP_os
     YARP::YARP_init
     gz-sim-yarp-handler)
diff --git a/plugins/robotinterface/RobotInterface.cc b/plugins/robotinterface/RobotInterface.cc
index 0e9b5a8..ea0167e 100644
--- a/plugins/robotinterface/RobotInterface.cc
+++ b/plugins/robotinterface/RobotInterface.cc
@@ -1,8 +1,10 @@
-#include "../../libraries/singleton-devices/Handler.hh"
+#include <Handler.hh>
+
 #include <gz/plugin/Register.hh>
 #include <gz/sim/Model.hh>
 #include <gz/sim/System.hh>
 #include <gz/sim/Util.hh>
+
 #include <yarp/dev/PolyDriver.h>
 #include <yarp/dev/PolyDriverList.h>
 #include <yarp/os/LogStream.h>