diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp
index 31965eb1cfc..05adb417911 100644
--- a/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp
+++ b/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp
@@ -17,7 +17,13 @@
 
 #include <memory>
 #include <vector>
+
+// xtensor creates warnings that needs to be ignored as we are building with -Werror
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Warray-bounds"
+#pragma GCC diagnostic ignored "-Wstringop-overflow"
 #include <xtensor/xtensor.hpp>
+#pragma GCC diagnostic pop
 
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "nav2_core/goal_checker.hpp"
diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp
index 2de3e72a29b..7e09fcf91c3 100644
--- a/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp
+++ b/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp
@@ -19,7 +19,13 @@
 #include <string>
 #include <vector>
 #include <pluginlib/class_loader.hpp>
+
+// xtensor creates warnings that needs to be ignored as we are building with -Werror
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Warray-bounds"
+#pragma GCC diagnostic ignored "-Wstringop-overflow"
 #include <xtensor/xtensor.hpp>
+#pragma GCC diagnostic pop
 
 #include "geometry_msgs/msg/twist.hpp"
 #include "geometry_msgs/msg/twist_stamped.hpp"
diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp
index 7a96ad1c94e..ad797e9afaa 100644
--- a/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp
+++ b/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp
@@ -15,7 +15,12 @@
 #ifndef NAV2_MPPI_CONTROLLER__MODELS__CONTROL_SEQUENCE_HPP_
 #define NAV2_MPPI_CONTROLLER__MODELS__CONTROL_SEQUENCE_HPP_
 
+// xtensor creates warnings that needs to be ignored as we are building with -Werror
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Warray-bounds"
+#pragma GCC diagnostic ignored "-Wstringop-overflow"
 #include <xtensor/xtensor.hpp>
+#pragma GCC diagnostic pop
 
 namespace mppi::models
 {
diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp
index 241a6928bab..f1bab3f8032 100644
--- a/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp
+++ b/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp
@@ -15,7 +15,12 @@
 #ifndef NAV2_MPPI_CONTROLLER__MODELS__PATH_HPP_
 #define NAV2_MPPI_CONTROLLER__MODELS__PATH_HPP_
 
+// xtensor creates warnings that needs to be ignored as we are building with -Werror
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Warray-bounds"
+#pragma GCC diagnostic ignored "-Wstringop-overflow"
 #include <xtensor/xtensor.hpp>
+#pragma GCC diagnostic pop
 
 namespace mppi::models
 {
diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp
index 7dd19eaff39..75f8c7521a2 100644
--- a/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp
+++ b/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp
@@ -15,7 +15,12 @@
 #ifndef NAV2_MPPI_CONTROLLER__MODELS__STATE_HPP_
 #define NAV2_MPPI_CONTROLLER__MODELS__STATE_HPP_
 
+// xtensor creates warnings that needs to be ignored as we are building with -Werror
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Warray-bounds"
+#pragma GCC diagnostic ignored "-Wstringop-overflow"
 #include <xtensor/xtensor.hpp>
+#pragma GCC diagnostic pop
 
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <geometry_msgs/msg/twist.hpp>
diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp
index fa2c0181204..0862c2caedc 100644
--- a/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp
+++ b/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp
@@ -15,8 +15,13 @@
 #ifndef NAV2_MPPI_CONTROLLER__MODELS__TRAJECTORIES_HPP_
 #define NAV2_MPPI_CONTROLLER__MODELS__TRAJECTORIES_HPP_
 
+// xtensor creates warnings that needs to be ignored as we are building with -Werror
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Warray-bounds"
+#pragma GCC diagnostic ignored "-Wstringop-overflow"
 #include <xtensor/xtensor.hpp>
 #include <xtensor/xview.hpp>
+#pragma GCC diagnostic pop
 
 namespace mppi::models
 {
diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp
index 1132953bd9a..713c3d2a22a 100644
--- a/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp
+++ b/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp
@@ -19,10 +19,16 @@
 
 #include "nav2_mppi_controller/models/control_sequence.hpp"
 #include "nav2_mppi_controller/models/state.hpp"
+
+// xtensor creates warnings that needs to be ignored as we are building with -Werror
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Warray-bounds"
+#pragma GCC diagnostic ignored "-Wstringop-overflow"
 #include <xtensor/xmath.hpp>
 #include <xtensor/xmasked_view.hpp>
 #include <xtensor/xview.hpp>
 #include <xtensor/xnoalias.hpp>
+#pragma GCC diagnostic pop
 
 #include "nav2_mppi_controller/tools/parameters_handler.hpp"
 
diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp
index 061654aa659..6e1c271d94d 100644
--- a/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp
+++ b/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp
@@ -18,8 +18,13 @@
 #include <string>
 #include <memory>
 
+// xtensor creates warnings that needs to be ignored as we are building with -Werror
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Warray-bounds"
+#pragma GCC diagnostic ignored "-Wstringop-overflow"
 #include <xtensor/xtensor.hpp>
 #include <xtensor/xview.hpp>
+#pragma GCC diagnostic pop
 
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
 
diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/tools/noise_generator.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/tools/noise_generator.hpp
index a811d998e41..f16bb909531 100644
--- a/nav2_mppi_controller/include/nav2_mppi_controller/tools/noise_generator.hpp
+++ b/nav2_mppi_controller/include/nav2_mppi_controller/tools/noise_generator.hpp
@@ -21,8 +21,13 @@
 #include <mutex>
 #include <condition_variable>
 
+// xtensor creates warnings that needs to be ignored as we are building with -Werror
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Warray-bounds"
+#pragma GCC diagnostic ignored "-Wstringop-overflow"
 #include <xtensor/xtensor.hpp>
 #include <xtensor/xview.hpp>
+#pragma GCC diagnostic pop
 
 #include "nav2_mppi_controller/models/optimizer_settings.hpp"
 #include "nav2_mppi_controller/tools/parameters_handler.hpp"
diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp
index 6ecdbdcb8dc..d9cdc95ce98 100644
--- a/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp
+++ b/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp
@@ -17,7 +17,13 @@
 
 #include <memory>
 #include <string>
+
+// xtensor creates warnings that needs to be ignored as we are building with -Werror
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Warray-bounds"
+#pragma GCC diagnostic ignored "-Wstringop-overflow"
 #include <xtensor/xtensor.hpp>
+#pragma GCC diagnostic pop
 
 #include "nav_msgs/msg/path.hpp"
 #include "rclcpp/rclcpp.hpp"
diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp
index 2232957c15f..fae3328f066 100644
--- a/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp
+++ b/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp
@@ -23,10 +23,15 @@
 #include <memory>
 #include <vector>
 
+// xtensor creates warnings that needs to be ignored as we are building with -Werror
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Warray-bounds"
+#pragma GCC diagnostic ignored "-Wstringop-overflow"
 #include <xtensor/xarray.hpp>
 #include <xtensor/xnorm.hpp>
 #include <xtensor/xmath.hpp>
 #include <xtensor/xview.hpp>
+#pragma GCC diagnostic pop
 
 #include "angles/angles.h"