diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index df16bfee..ebd59c89 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -30,6 +30,12 @@ jobs:
       if: contains(matrix.os, 'windows')
       uses: ilammy/msvc-dev-cmd@v1.12.1
 
+    - name: Setup compilation env variables (not Windows)
+      if: contains(matrix.os, 'ubuntu') || contains(matrix.os, 'macos') 
+      shell: bash -l {0}
+      run: |
+        echo "CMAKE_INSTALL_PREFIX=${CONDA_PREFIX}" >> $GITHUB_ENV
+
     - name: Setup compilation env variables (Windows)
       if: contains(matrix.os, 'windows')
       shell: bash -l {0}
@@ -38,6 +44,7 @@ jobs:
         compiler_path=${bash_vc_install}bin/Hostx64/x64/cl.exe
         echo "CC=${compiler_path}" >> $GITHUB_ENV
         echo "CXX=${compiler_path}" >> $GITHUB_ENV
+        echo "CMAKE_INSTALL_PREFIX=${CONDA_PREFIX}\Library" >> $GITHUB_ENV
 
     - name: Configure
       shell: bash -l {0}
@@ -45,7 +52,7 @@ jobs:
         mkdir -p build
         cd build
         cmake -GNinja -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
-              -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DBUILD_TESTING:BOOL=ON \
+              -DBUILD_TESTING:BOOL=ON \
               -DHDE_COMPILE_PYTHON_BINDINGS:BOOL=ON -DHUMANSTATEPROVIDER_ENABLE_VISUALIZER:BOOL=ON \
               -DHUMANSTATEPROVIDER_ENABLE_LOGGER:BOOL=ON -DHDE_DETECT_ACTIVE_PYTHON_SITEPACKAGES:BOOL=ON ..
 
@@ -70,6 +77,11 @@ jobs:
     - name: Check install
       shell: bash -l {0}
       run: |
-        cd build
+        # Test CMake packages
+        cmake-package-check IWear --targets IWear::IWear
+        cmake-package-check WearableData --targets WearableData::WearableData
+        cmake-package-check WearableActuators --targets WearableActuators::WearableActuators
+        cmake-package-check HumanDynamicsEstimation --targets HumanDynamicsEstimation::HumanStateMsg
+        # Test python packages
         python -c "import wearables"
         python -c "import hde"
diff --git a/CMakeLists.txt b/CMakeLists.txt
index caeccca1..461a7d12 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -4,7 +4,7 @@
 cmake_minimum_required(VERSION 3.5)
 project(HumanDynamicsEstimation
         LANGUAGES CXX
-        VERSION 4.0.1)
+        VERSION 4.0.2)
 
 # =====================
 # PROJECT CONFIGURATION
@@ -141,7 +141,8 @@ install_basic_package_files(${PROJECT_NAME}
   VERSION ${${PROJECT_NAME}_VERSION}
   COMPATIBILITY AnyNewerVersion
   VARS_PREFIX ${PROJECT_NAME}
-  NO_CHECK_REQUIRED_COMPONENTS_MACRO)
+  NO_CHECK_REQUIRED_COMPONENTS_MACRO
+  DEPENDENCIES YARP)
 
 # Add the uninstall target
 include(AddUninstallTarget)
diff --git a/ci_env.yml b/ci_env.yml
index b11438a4..c2fc966e 100644
--- a/ci_env.yml
+++ b/ci_env.yml
@@ -8,10 +8,12 @@ dependencies:
   - make
   - ninja
   - pkg-config
+  - python
   - pybind11
   - yarp
   - icub-main
   - idyntree
   - libmatio-cpp
-  - robometry
+  - librobometry
   - osqp-eigen
+  - cmake-package-check
diff --git a/interfaces/IWear/CMakeLists.txt b/interfaces/IWear/CMakeLists.txt
index 8c2654b6..598feaa5 100644
--- a/interfaces/IWear/CMakeLists.txt
+++ b/interfaces/IWear/CMakeLists.txt
@@ -64,4 +64,5 @@ install_basic_package_files(IWear
     VERSION ${PROJECT_VERSION}
     COMPATIBILITY AnyNewerVersion
     EXPORT IWear
-    NO_CHECK_REQUIRED_COMPONENTS_MACRO)
+    NO_CHECK_REQUIRED_COMPONENTS_MACRO
+    DEPENDENCIES YARP)
diff --git a/msgs/CMakeLists.txt b/msgs/CMakeLists.txt
index f8e14884..98afe2b5 100644
--- a/msgs/CMakeLists.txt
+++ b/msgs/CMakeLists.txt
@@ -48,7 +48,8 @@ install_basic_package_files(WearableData
         VERSION ${PROJECT_VERSION}
         COMPATIBILITY AnyNewerVersion
         EXPORT WearableData
-        NO_CHECK_REQUIRED_COMPONENTS_MACRO)
+        NO_CHECK_REQUIRED_COMPONENTS_MACRO
+        DEPENDENCIES YARP)
 
 install(FILES ${WEARABLEDATA_FILES}
         DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/thrift)
@@ -97,7 +98,8 @@ install_basic_package_files(WearableActuators
         VERSION ${PROJECT_VERSION}
         COMPATIBILITY AnyNewerVersion
         EXPORT WearableActuators
-        NO_CHECK_REQUIRED_COMPONENTS_MACRO)
+        NO_CHECK_REQUIRED_COMPONENTS_MACRO
+        DEPENDENCIES YARP)
 
 install(FILES ${WEARABLEACTUATORS_FILES}
         DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/thrift)