First install the dependencies:
For unit testing, you'll need the googletest source package. Refer to Install googletest.
Once the required dependencies have been installed, the code has to be compiled and installed. Note that you will be prompted for your password upon using sudo a couple of times:
cd # go home
mkdir -p repos; cd repos # make $HOME/repos if it doesn't exist; then, enter it
git clone https://github.com/roboticslab-uc3m/amor-yarp-devices.git # Download yarp-devices software from the repository
cd yarp-devices; mkdir build; cd build; cmake .. # Configure the yarp-devices software
make -j$(nproc) # Compile
sudo make install # Install :-)
sudo ldconfig # Just in case