diff --git a/CMakeLists.txt b/CMakeLists.txt
index e8f08e9109..c3ca14e5ce 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -71,6 +71,8 @@ include(AddBipedalLocomotionUnitTest)
 #Function to automatize the process of creating a new library
 include(AddBipedalLocomotionLibrary)
 
+include(AddBipedalLocomotionYARPDevice)
+
 #Utility to install ini files
 include(InstallIniFiles)
 
diff --git a/cmake/AddBipedalLocomotionYARPDevice.cmake b/cmake/AddBipedalLocomotionYARPDevice.cmake
new file mode 100644
index 0000000000..c5f53b8082
--- /dev/null
+++ b/cmake/AddBipedalLocomotionYARPDevice.cmake
@@ -0,0 +1,64 @@
+# Copyright (C) 2020 Istituto Italiano di Tecnologia (IIT). All rights reserved.
+# This software may be modified and distributed under the terms of the
+# GNU Lesser General Public License v2.1 or any later version.
+
+function(add_bipedal_yarp_device)
+  set(options )
+  set(oneValueArgs NAME)
+  set(multiValueArgs
+    SOURCES
+    PUBLIC_HEADERS
+    PRIVATE_HEADERS
+    PUBLIC_LINK_LIBRARIES
+    PRIVATE_LINK_LIBRARIES
+    DEFAULT
+    TYPE
+    INI)
+
+  set(prefix "bipedal_yarp")
+
+  cmake_parse_arguments(${prefix}
+          "${options}"
+          "${oneValueArgs}"
+          "${multiValueArgs}"
+          ${ARGN})
+
+  set(name ${${prefix}_NAME})
+  set(type ${${prefix}_TYPE})
+  set(default ${${prefix}_DEFAULT})
+  set(ini ${${prefix}_INI})
+  set(sources ${${prefix}_SOURCES})
+  set(public_headers ${${prefix}_PUBLIC_HEADERS})
+  set(public_link_libraries ${${prefix}_PUBLIC_LINK_LIBRARIES})
+
+  yarp_prepare_plugin(${name} CATEGORY device
+                              TYPE ${type}
+                              INCLUDE ${public_headers}
+                              DEFAULT ${default})
+
+  yarp_add_plugin(${name} ${sources} ${public_headers})
+
+  target_link_libraries(${name} PUBLIC ${public_link_libraries})
+  target_compile_features(${name} PUBLIC cxx_std_17)
+
+  # Specify include directories for both compilation and installation process.
+  # The $<INSTALL_PREFIX> generator expression is useful to ensure to create
+  # relocatable configuration files, see https://cmake.org/cmake/help/latest/manual/cmake-packages.7.html#creating-relocatable-packages
+  target_include_directories(${name} PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "<INSTALLINTERFACE:<INSTALL_PREFIX>/${CMAKE_INSTALL_INCLUDEDIR}>")
+
+  # Specify installation targets, typology and destination folders.
+  yarp_install(TARGETS ${name}
+               COMPONENT runtime
+               LIBRARY DESTINATION ${YARP_DYNAMIC_PLUGINS_INSTALL_DIR}/
+               ARCHIVE DESTINATION ${YARP_STATIC_PLUGINS_INSTALL_DIR}/)
+  yarp_install(FILES ${ini}
+               COMPONENT runtime
+               DESTINATION ${YARP_PLUGIN_MANIFESTS_INSTALL_DIR}/)
+
+  add_subdirectory(app)
+
+
+  message(STATUS "Created device ${name}.")
+
+endfunction()
diff --git a/devices/FloatingBaseEstimatorDevice/CMakeLists.txt b/devices/FloatingBaseEstimatorDevice/CMakeLists.txt
index 283f835351..5c205a9fba 100644
--- a/devices/FloatingBaseEstimatorDevice/CMakeLists.txt
+++ b/devices/FloatingBaseEstimatorDevice/CMakeLists.txt
@@ -3,45 +3,15 @@
 # GNU Lesser General Public License v2.1 or any later version.
 
 if(FRAMEWORK_COMPILE_YarpImplementation)
-  cmake_minimum_required(VERSION 3.5)
-  set(PLUGIN_NAME FloatingBaseEstimatorDevice)
 
-  set(${PLUGIN_NAME}_SRC src/FloatingBaseEstimatorDevice.cpp)
-  set(${PLUGIN_NAME}_HDR include/BipedalLocomotion/FloatingBaseEstimatorDevice.h)
-
-  yarp_prepare_plugin(${PLUGIN_NAME} CATEGORY device
-                                     TYPE BipedalLocomotion::FloatingBaseEstimatorDevice
-                                     INCLUDE ${${PLUGIN_NAME}_HDR}
-                                     DEFAULT ON)
-
-  yarp_add_plugin(${PLUGIN_NAME} ${${PLUGIN_NAME}_SRC} ${${PLUGIN_NAME}_HDR})
-
-  target_link_libraries(${PLUGIN_NAME} PUBLIC ${YARP_LIBRARIES}
-                                              ${iDynTree_LIBRARIES}
-                                              BipedalLocomotion::YarpUtilities
-                                              BipedalLocomotion::RobotInterfaceYarpImplementation
-                                              BipedalLocomotion::ParametersHandlerYarpImplementation
-                                              BipedalLocomotion::FloatingBaseEstimators)
-  target_compile_features(${PLUGIN_NAME} PUBLIC cxx_std_17)
-
-  # Specify include directories for both compilation and installation process.
-  # The $<INSTALL_PREFIX> generator expression is useful to ensure to create
-  # relocatable configuration files, see https://cmake.org/cmake/help/latest/manual/cmake-packages.7.html#creating-relocatable-packages
-  target_include_directories(${PLUGIN_NAME} PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-    "<INSTALLINTERFACE:<INSTALL_PREFIX>/${CMAKE_INSTALL_INCLUDEDIR}>")
-
-  # Specify installation targets, typology and destination folders.
-  yarp_install(TARGETS ${PLUGIN_NAME}
-               COMPONENT runtime
-               LIBRARY DESTINATION ${YARP_DYNAMIC_PLUGINS_INSTALL_DIR}/
-               ARCHIVE DESTINATION ${YARP_STATIC_PLUGINS_INSTALL_DIR}/)
-  yarp_install(FILES FloatingBaseEstimatorDevice.ini
-               COMPONENT runtime
-               DESTINATION ${YARP_PLUGIN_MANIFESTS_INSTALL_DIR}/)
-
-  add_subdirectory(app)
-
-  message(STATUS "Created device ${PLUGIN_NAME}.")
+add_bipedal_yarp_device(
+  NAME FloatingBaseEstimatorDevice
+  TYPE BipedalLocomotion::FloatingBaseEstimatorDevice
+  SOURCES src/FloatingBaseEstimatorDevice.cpp
+  PUBLIC_HEADERS include/BipedalLocomotion/FloatingBaseEstimatorDevice.h
+  PUBLIC_LINK_LIBRARIES ${YARP_LIBRARIES} ${iDynTree_LIBRARIES} BipedalLocomotion::YarpUtilities BipedalLocomotion::RobotInterfaceYarpImplementation BipedalLocomotion::ParametersHandlerYarpImplementation BipedalLocomotion::FloatingBaseEstimators
+  INI FloatingBaseEstimatorDevice.ini
+  DEFAULT ON)
 
 endif()