diff --git a/includes-ros2/yaml-cpp-vendor/yaml-cpp-vendor.inc b/includes-ros2/yaml-cpp-vendor/yaml-cpp-vendor.inc
new file mode 100644
index 00000000000..66de9c02436
--- /dev/null
+++ b/includes-ros2/yaml-cpp-vendor/yaml-cpp-vendor.inc
@@ -0,0 +1,16 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+# This is the tree under which CMakeLists.txt installs the files. Assume it's been done for a good reason.
+ROS_PREFIX = "${prefix}/opt/${ROS_BPN}"
+
+SYSROOT_DIRS_append = " ${ROS_PREFIX}"
+
+FILES_${PN}_prepend = "${ROS_PREFIX}/lib/libyaml-cpp.so* "
+
+FILES_${PN}-dev_prepend = " \
+    ${ROS_PREFIX}/include \
+    ${ROS_PREFIX}/lib/cmake \
+    ${ROS_PREFIX}/lib/pkgconfig \
+"
+
+INSANE_SKIP_${PN} = "dev-so libdir"