diff --git a/example/idl/rosPortable/CMakeLists.txt b/example/idl/rosPortable/CMakeLists.txt
index 9b84996..067a9d5 100644
--- a/example/idl/rosPortable/CMakeLists.txt
+++ b/example/idl/rosPortable/CMakeLists.txt
@@ -1,7 +1,7 @@
 # SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 # SPDX-License-Identifier: BSD-3-Clause
 
-cmake_minimum_required(VERSION 3.16)
+cmake_minimum_required(VERSION 3.12)
 
 find_package(YARP COMPONENTS os idl_tools REQUIRED)
 
diff --git a/example/ros/CMakeLists.txt b/example/ros/CMakeLists.txt
index 0b7bf36..fc17300 100644
--- a/example/ros/CMakeLists.txt
+++ b/example/ros/CMakeLists.txt
@@ -1,7 +1,7 @@
 # SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 # SPDX-License-Identifier: BSD-3-Clause
 
-cmake_minimum_required(VERSION 3.16)
+cmake_minimum_required(VERSION 3.12)
 project(yarp_ros_example)
 
 find_package(YARP 3.3.103 COMPONENTS os dev math rosmsg idl_tools REQUIRED)
diff --git a/example/ros/package/src/yarp_test/CMakeLists.txt b/example/ros/package/src/yarp_test/CMakeLists.txt
index c9ca173..e546c16 100644
--- a/example/ros/package/src/yarp_test/CMakeLists.txt
+++ b/example/ros/package/src/yarp_test/CMakeLists.txt
@@ -1,7 +1,7 @@
 # SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 # SPDX-License-Identifier: BSD-3-Clause
 
-cmake_minimum_required(VERSION 3.16)
+cmake_minimum_required(VERSION 3.12)
 project(yarp_test)
 find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs message_generation)
 add_service_files(FILES AddTwoInts.srv)
diff --git a/example/yarpros_examples/CMakeLists.txt b/example/yarpros_examples/CMakeLists.txt
index fd3f525..d451061 100644
--- a/example/yarpros_examples/CMakeLists.txt
+++ b/example/yarpros_examples/CMakeLists.txt
@@ -2,7 +2,7 @@
 # SPDX-FileCopyrightText: 2006-2010 RobotCub Consortium
 # SPDX-License-Identifier: BSD-3-Clause
 
-cmake_minimum_required(VERSION 3.16)
+cmake_minimum_required(VERSION 3.12)
 include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 
 # Set the build type.  Options are: