diff --git a/Makefile b/Makefile
index 5f749713327eadbe2115fa3a42faddf0162b6fa6..682c1f204c5ba1961937558a4ce5c1417cc2a42f 100644
--- a/Makefile
+++ b/Makefile
@@ -62,7 +62,6 @@ SUBDIR+= octovis
SUBDIR+= ompl
SUBDIR+= openhrp3-hrp2
SUBDIR+= openhrp3-simulator-wo-rtm
-SUBDIR+= orocos-yarp_transport
SUBDIR+= osg-dae
SUBDIR+= pal-gazebo-plugins
SUBDIR+= pal-gazebo-worlds
diff --git a/orocos-yarp_transport/DESCR b/orocos-yarp_transport/DESCR
deleted file mode 100644
index 65fd66388ef84b49de2d80f01e1ea8d14b723ed2..0000000000000000000000000000000000000000
--- a/orocos-yarp_transport/DESCR
+++ /dev/null
@@ -1,3 +0,0 @@
-The YARP transport for Orocos provides a Communication framework to connect ports of components
-using the YARP middleware.
-
diff --git a/orocos-yarp_transport/Makefile b/orocos-yarp_transport/Makefile
deleted file mode 100644
index 487aded01a90086deb1f71a5779a06612084a551..0000000000000000000000000000000000000000
--- a/orocos-yarp_transport/Makefile
+++ /dev/null
@@ -1,41 +0,0 @@
-# robotpkg Makefile for: middleware/orocos-yarp_transport
-# Created: Charles Lesire on Tue, 10 Sep 2013
-#
-NAME= orocos-yarp_transport
-VERSION= 20150316
-DISTNAME= ${NAME}-${VERSION}
-CATEGORIES= middleware
-
-COMMIT= c28e3ca4c9998a8be127fa46d6b740cc87326e06
-FETCH_METHOD= git
-MASTER_SITES= https://github.com/adegroote/orocos-yarp-transport.git@${COMMIT}
-MASTER_REPOSITORY= git https://github.com/adegroote/orocos-yarp-transport.git
-
-MAINTAINER= charles.lesire@onera.fr
-COMMENT= The YARP transport for the Orocos toolchain
-LICENSE= gnu-lgpl-v2.1
-HOMEPAGE= https://github.com/adegroote/orocos-yarp-transport
-
-DEPEND_ABI.orocos-rtt = orocos-rtt>=2.5
-DEPEND_ABI.yarp = yarp>=2.2
-
-CMAKE_ARGS+= -DOROCOS-RTT_DIR=${PREFIX.orocos-rtt}/lib/cmake/orocos-rtt
-
-PKG_SUPPORTED_OPTIONS+= doc
-PKG_SUGGESTED_OPTIONS+= doc
-PKG_OPTION_DESCR.doc?= Install ${PKGBASE} documentation
-define PKG_OPTION_SET.doc
- CMAKE_ARGS+= -DBUILD_DOC=ON
- include ../sysdep/docbook.mk
-endef
-define PKG_OPTION_UNSET.doc
- CMAKE_ARGS+= -DBUILD_DOC=OFF
-endef
-
-include ../../middleware/orocos-rtt/depend.mk
-include ../../middleware/yarp/depend.mk
-include ../../mk/sysdep/cmake.mk
-include ../../mk/language/c++.mk
-include ../../mk/language/c.mk
-include ../../mk/robotpkg.mk
-
diff --git a/orocos-yarp_transport/PLIST b/orocos-yarp_transport/PLIST
deleted file mode 100644
index 53cbc938c9e4b4346c30d0cc8ff8e654d805ff53..0000000000000000000000000000000000000000
--- a/orocos-yarp_transport/PLIST
+++ /dev/null
@@ -1,9 +0,0 @@
-@comment Tue Sep 10 19:22:57 CEST 2013
-include/orocos/yarp/YarpChannelElement.hpp
-include/orocos/yarp/YarpTemplateProtocol.hpp
-include/orocos/yarp/YarpTransport.hpp
-include/orocos/yarp/yarp_bottle_archive.hpp
-lib/orocos/gnulinux/yarp/plugins/libyarp-service-gnulinux.so
-lib/orocos/gnulinux/yarp/plugins/libyarp-transport-gnulinux.so
-lib/pkgconfig/yarp-gnulinux.pc
-${PLIST.doc}share/doc/yarp-transport/yarp-transport-doc.pdf
diff --git a/orocos-yarp_transport/depend.mk b/orocos-yarp_transport/depend.mk
deleted file mode 100644
index 2001670ecdebeacc2dbd86dd8ed490a5e5202077..0000000000000000000000000000000000000000
--- a/orocos-yarp_transport/depend.mk
+++ /dev/null
@@ -1,26 +0,0 @@
-# robotpkg depend.mk for: middleware/orocos-yarp_transport
-# Created: Charles Lesire on Tue, 10 Sep 2013
-#
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH}+
-OROCOS_YARP_DEPEND_MK:=${OROCOS_YARP_DEPEND_MK}+
-
-ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+= orocos-yarp_transport
-endif
-
-ifeq (+,$(OROCOS_YARP_DEPEND_MK))
-PREFER.orocos-dot_service?= robotpkg
-
-DEPEND_USE+= orocos-yarp_transport
-
-DEPEND_ABI.orocos-yarp_transport?= orocos-yarp_transport>=20140000
-DEPEND_DIR.orocos-yarp_transport?= ../../wip/orocos-yarp_transport
-
-SYSTEM_SEARCH.orocos-yarp_transport= \
- lib/orocos/gnulinux/yarp/plugins/libyarp-transport-gnulinux.so \
- include/orocos/yarp/YarpTransport.hpp \
- lib/pkgconfig/yarp-gnulinux.pc
-endif
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/orocos-yarp_transport/distinfo b/orocos-yarp_transport/distinfo
deleted file mode 100644
index 6221313d2f03c8b1cc5c0dc68014e95c6e839fae..0000000000000000000000000000000000000000
--- a/orocos-yarp_transport/distinfo
+++ /dev/null
@@ -1,2 +0,0 @@
-SHA1 (orocos-yarp_transport-20150316.tar.gz) = e9fdd1405f79f48b1ddd7b616e9413f28c44bd1d
-RMD160 (orocos-yarp_transport-20150316.tar.gz) = ea596d2bb8c9e5f3a473191bbf7b3dd9ea0e358b