diff --git a/README.md b/README.md
index a12cc50..78540fa 100644
--- a/README.md
+++ b/README.md
@@ -17,30 +17,32 @@ Documentation of the individual devices is provided in the official Yarp documen
 Installation
 -------------
 
+### Build with pure CMake commands
+
+~~~
+# Configure, compile and install
+cmake -S. -Bbuild -DCMAKE_INSTALL_PREFIX=<install_prefix>
+cmake --build build
+cmake --build build --target install
+
+# Make ROS msgs available in [ament index](https://github.com/ament/ament_index)
+export AMENT_PREFIX_PATH=$AMENT_PREFIX_PATH:<install_prefix>
+~~~
+
+
 ### Build with ROS msgs compiled in separate colcon workspace
 
 ~~~bash
 # Compile the colcon workspace containing the required messages and services
-(cd ros2_interfaces_ws && colcon build --packages-select map2d_nws_ros2_msgs)
+(cd ros2_interfaces_ws && colcon build)
 
 # Make the workspace available
 . ros2_interfaces_ws/install/setup.bash
 
 # Configure and compile
-cmake -S. -Bbuild
-cmake --build build
-~~~
-
-### Build with pure CMake commands
-
-~~~
-# Configure, compile and install
-cmake -S. -Bbuild -DCMAKE_INSTALL_PREFIX=<install_prefix>
+cmake -S. -Bbuild -DYARP_ROS2_USE_SYSTEM_map2d_nws_ros2_msgs:BOOL=ON -DYARP_ROS2_USE_SYSTEM_yarp_control_msgs:BOOL=ON -DCMAKE_INSTALL_PREFIX=<install_prefix>
 cmake --build build
 cmake --build build --target install
-
-# Make ROS msgs available in [ament index](https://github.com/ament/ament_index)
-export AMENT_PREFIX_PATH=$AMENT_PREFIX_PATH:<install_prefix>
 ~~~
 
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