diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index d2b6c45..c2e9eeb 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -20,9 +20,7 @@ jobs:
          - {
             ros2_distro: "iron",
             base_image: "ubuntu:22.04",
-            base_image_label: "ubuntu22.04",
-            yarp_dev_ros2_branch: "fix/yarp_master_compatibility",
-            yarp_dev_ros2_remote: "elandini84",
+            base_image_label: "ubuntu22.04"
          }
          # - {
          #    ros2_distro: "humble",
@@ -32,9 +30,7 @@ jobs:
          - {
             ros2_distro: "iron",
             base_image: "nvidia/cuda:11.7.1-cudnn8-devel-ubuntu22.04",
-            base_image_label: "cuda.11.7.1-cudnn8",
-            yarp_dev_ros2_branch: "fix/yarp_master_compatibility",
-            yarp_dev_ros2_remote: "elandini84",
+            base_image_label: "cuda.11.7.1-cudnn8"
          }
     steps:
     - name: Info
@@ -57,10 +53,10 @@ jobs:
       run: |
        if [ ${{ github.event_name }} == 'schedule' ]; then
           echo "Building development tour core image"
-          sudo docker build --build-arg base_img=${{matrix.config.base_image}} --build-arg ros_distro=${{matrix.config.ros2_distro}} --build-arg ros2_dev_branch=${{matrix.config.yarp_dev_ros2_branch}} --build-arg ros2_dev_remote=${{matrix.config.yarp_dev_ros2_remote}} -t elandini84/r1images:tourCore2_${{matrix.config.base_image_label}}_${{matrix.config.ros2_distro}}_devel .
+          sudo docker build --build-arg base_img=${{matrix.config.base_image}} --build-arg ros_distro=${{matrix.config.ros2_distro}} -t elandini84/r1images:tourCore2_${{matrix.config.base_image_label}}_${{matrix.config.ros2_distro}}_devel .
        elif [ ${{ github.event_name }} == 'workflow_dispatch' ]; then
           echo "Building stable tour core image"
-          sudo docker build --build-arg base_img=${{matrix.config.base_image}} --build-arg ros_distro=${{matrix.config.ros2_distro}} --build-arg ros2_dev_branch=${{matrix.config.yarp_dev_ros2_branch}} --build-arg ros2_dev_remote=${{matrix.config.yarp_dev_ros2_remote}} -t elandini84/r1images:tourCore2_${{matrix.config.base_image_label}}_${{matrix.config.ros2_distro}}_stable .
+          sudo docker build --build-arg base_img=${{matrix.config.base_image}} --build-arg ros_distro=${{matrix.config.ros2_distro}} -t elandini84/r1images:tourCore2_${{matrix.config.base_image_label}}_${{matrix.config.ros2_distro}}_stable .
        else
           echo "Failure!"
           exit 1
@@ -175,10 +171,10 @@ jobs:
       run: |
        if [ ${{ github.event_name }} == 'schedule' ]; then
           echo "Building development tour core image"
-          sudo docker build --build-arg base_img=${{matrix.config.base_image}} --build-arg ros_distro=${{matrix.config.ros2_distro}} --build-arg ros2_dev_branch=${{matrix.config.yarp_dev_ros2_branch}} --build-arg ros2_dev_remote=${{matrix.config.yarp_dev_ros2_remote}} -t elandini84/r1images:tourSim2_${{matrix.config.base_image_label}}_${{matrix.config.ros2_distro}}_devel .
+          sudo docker build --build-arg base_img=${{matrix.config.base_image}} --build-arg ros_distro=${{matrix.config.ros2_distro}} -t elandini84/r1images:tourSim2_${{matrix.config.base_image_label}}_${{matrix.config.ros2_distro}}_devel .
        elif [ ${{ github.event_name }} == 'workflow_dispatch' ]; then
           echo "Building stable tour core image"
-          sudo docker build --build-arg base_img=${{matrix.config.base_image}} --build-arg ros_distro=${{matrix.config.ros2_distro}} --build-arg ros2_dev_branch=${{matrix.config.yarp_dev_ros2_branch}} --build-arg ros2_dev_remote=${{matrix.config.yarp_dev_ros2_remote}} -t elandini84/r1images:tourSim2_${{matrix.config.base_image_label}}_${{matrix.config.ros2_distro}}_stable .
+          sudo docker build --build-arg base_img=${{matrix.config.base_image}} --build-arg ros_distro=${{matrix.config.ros2_distro}} -t elandini84/r1images:tourSim2_${{matrix.config.base_image_label}}_${{matrix.config.ros2_distro}}_stable .
        else
           echo "Failure!"
           exit 1
diff --git a/docker_stuff/docker_tourCore2/Dockerfile b/docker_stuff/docker_tourCore2/Dockerfile
index 8763d52..2c7f48e 100644
--- a/docker_stuff/docker_tourCore2/Dockerfile
+++ b/docker_stuff/docker_tourCore2/Dockerfile
@@ -5,7 +5,7 @@ LABEL maintainer="Ettore Landini"
 ARG ros_distro
 ARG yarp_branch="master"
 ARG ros2_dev_remote="robotology"
-ARG ros2_dev_branch=${ros_distro}
+ARG ros2_dev_branch=${yarp_branch}
 
 # Non-interactive installation mode
 ENV DEBIAN_FRONTEND=noninteractive