diff --git a/franka_example_controllers/CMakeLists.txt b/franka_example_controllers/CMakeLists.txt
index ea89d8b6..ba0f86c8 100644
--- a/franka_example_controllers/CMakeLists.txt
+++ b/franka_example_controllers/CMakeLists.txt
@@ -8,7 +8,7 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-    add_compile_options(-Wall -Wextra -Wpedantic)
+    add_compile_options(-Werror -Wall -Wextra -Wpedantic)
 endif()
 
 option(CHECK_TIDY "Adds clang-tidy tests" OFF)
diff --git a/franka_gripper/CMakeLists.txt b/franka_gripper/CMakeLists.txt
index b386361c..aab5ffde 100644
--- a/franka_gripper/CMakeLists.txt
+++ b/franka_gripper/CMakeLists.txt
@@ -6,7 +6,7 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-    add_compile_options(-Wall -Wextra -Wpedantic)
+    add_compile_options(-Werror -Wall -Wextra -Wpedantic)
 endif()
 
 find_package(ament_cmake REQUIRED)
diff --git a/franka_hardware/CMakeLists.txt b/franka_hardware/CMakeLists.txt
index c8e8f234..c4277e93 100644
--- a/franka_hardware/CMakeLists.txt
+++ b/franka_hardware/CMakeLists.txt
@@ -7,7 +7,7 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+  add_compile_options(-Werror -Wall -Wextra -Wpedantic)
 endif()
 
 option(CHECK_TIDY "Adds clang-tidy tests" OFF)
diff --git a/franka_robot_state_broadcaster/CMakeLists.txt b/franka_robot_state_broadcaster/CMakeLists.txt
index 7f28efc8..f630cfbb 100644
--- a/franka_robot_state_broadcaster/CMakeLists.txt
+++ b/franka_robot_state_broadcaster/CMakeLists.txt
@@ -7,7 +7,7 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-    add_compile_options(-Wall -Wextra -Wpedantic)
+    add_compile_options(-Werror -Wall -Wextra -Wpedantic)
 endif()
 
 option(CHECK_TIDY "Adds clang-tidy tests" OFF)
diff --git a/franka_semantic_components/CMakeLists.txt b/franka_semantic_components/CMakeLists.txt
index 3c72bc85..c56f2b00 100644
--- a/franka_semantic_components/CMakeLists.txt
+++ b/franka_semantic_components/CMakeLists.txt
@@ -7,7 +7,7 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+  add_compile_options(-Werror -Wall -Wextra -Wpedantic)
 endif()
 
 option(CHECK_TIDY "Adds clang-tidy tests" OFF)
diff --git a/integration_launch_testing/CMakeLists.txt b/integration_launch_testing/CMakeLists.txt
index 49c5771d..927e8354 100644
--- a/integration_launch_testing/CMakeLists.txt
+++ b/integration_launch_testing/CMakeLists.txt
@@ -8,7 +8,7 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-    add_compile_options(-Wall -Wextra -Wpedantic)
+    add_compile_options(-Werror -Wall -Wextra -Wpedantic)
 endif()
 
 # find dependencies