diff --git a/CMakeLists.txt b/CMakeLists.txt
index d58cb14..f0ae72b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -8,8 +8,6 @@ option(FORCE_BUILD_VENDOR_PKG
 
 find_package(ament_cmake REQUIRED)
 
-set(PACKAGE_VERSION "1.0.0")
-
 macro(build_yaml_cpp)
   set(extra_cmake_args)
   set(YAML_C_FLAGS ${CMAKE_C_FLAGS})
@@ -26,7 +24,7 @@ macro(build_yaml_cpp)
   list(APPEND extra_cmake_args "-DYAML_CPP_BUILD_TESTS=OFF")
   list(APPEND extra_cmake_args "-DYAML_CPP_BUILD_TOOLS=OFF")
   list(APPEND extra_cmake_args "-DYAML_CPP_BUILD_CONTRIB=OFF")
-  list(APPEND extra_cmake_args "-DBUILD_SHARED_LIBS=ON")
+  list(APPEND extra_cmake_args "-DYAML_BUILD_SHARED_LIBS=ON")
   list(APPEND extra_cmake_args "-DCMAKE_C_COMPILER=${CMAKE_C_COMPILER}")
   list(APPEND extra_cmake_args "-DCMAKE_C_FLAGS=${YAML_C_FLAGS}")
   list(APPEND extra_cmake_args "-DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER}")
@@ -43,14 +41,9 @@ macro(build_yaml_cpp)
   endif()
 
   include(ExternalProject)
-  # This specific version (past the current latest release of 0.5.3) is required to make
-  # yaml-cpp relocatable, hopefully it is released again soon.
-  # See: https://github.com/jbeder/yaml-cpp/pull/538
-  # Latest release fails to compile on recent visual studio (VS2017 v15.8.1)
-  # See: https://github.com/jbeder/yaml-cpp/pull/597
-  ExternalProject_Add(yaml_cpp-0f9a586
-    URL https://github.com/jbeder/yaml-cpp/archive/0f9a586ca1dc29c2ecb8dd715a315b93e3f40f79.zip
-    URL_MD5 ec76c27ebd07d5178cbe85b773df8e62
+  ExternalProject_Add(yaml_cpp-0.6.3
+    URL https://github.com/jbeder/yaml-cpp/archive/yaml-cpp-0.6.3.tar.gz
+    URL_MD5 b45bf1089a382e81f6b661062c10d0c2
     TIMEOUT 600
     LOG_CONFIGURE ${should_log}
     LOG_BUILD ${should_log}