diff --git a/src/devices/ffmpeg/CMakeLists.txt b/src/devices/ffmpeg/CMakeLists.txt
index 52f61e2ab8..fd8311b017 100644
--- a/src/devices/ffmpeg/CMakeLists.txt
+++ b/src/devices/ffmpeg/CMakeLists.txt
@@ -20,6 +20,23 @@ yarp_prepare_plugin(ffmpeg_writer
   DEPENDS "YARP_HAS_FFMPEG;FFMPEG_avcodec_FOUND;FFMPEG_avformat_FOUND;FFMPEG_avdevice_FOUND;FFMPEG_avutil_FOUND;FFMPEG_swscale_FOUND"
 )
 
+if (FFmpeg_VERSION VERSION_LESS "4.0.0")
+    set(FFMPEG_VERSIONS_IS_OK TRUE)
+    message(WARNING"ffmpeg <4)"
+elseif (FFmpeg_VERSION VERSION_LESS "5.0.0")
+    set(FFMPEG_VERSIONS_IS_OK TRUE)
+    message(WARNING "ffmpeg >=4 <5)"
+else()
+    set(FFMPEG_VERSIONS_IS_OK FALSE)
+    message(WARNING "ffmpeg >=5)"
+endif()
+
+if(NOT FFMPEG_VERSIONS_IS_OK AND (NOT SKIP_ffmpeg_grabber OR NOT SKIP_ffmpeg_writer))
+  message(WARNING "ffmpeg_grabber/ffmpeg_writer devices cannot be currently compiled with FFMPEG library version greater >=5. See issue https://github.com/robotology/yarp/issues/2885")
+  set (SKIP_ffmpeg_grabber TRUE)
+  set (SKIP_ffmpeg_writer TRUE)
+endif()
+
 if(NOT SKIP_ffmpeg_grabber OR NOT SKIP_ffmpeg_writer)
   yarp_add_plugin(yarp_ffmpeg)
 
@@ -84,6 +101,3 @@ if(NOT SKIP_ffmpeg_grabber OR NOT SKIP_ffmpeg_writer)
 
   set_property(TARGET yarp_ffmpeg PROPERTY FOLDER "Plugins/Device")
 endif()
-
-include(YarpRemoveFile)
-yarp_remove_file("${YARP_PLUGIN_MANIFESTS_INSTALL_DIR}/ffmpeg.ini") # YARP_DEPRECATED since YARP 3.2