diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3d63182..2145568 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -11,6 +11,12 @@ if(NOT CMAKE_BUILD_TYPE)
     set(CMAKE_BUILD_TYPE Release CACHE STRING "Build type." FORCE)
 endif()
 
+if(CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang")
+    # Disable specific warnings (we cannot change these, KUKA has to fix them in their SDK)
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-format-security -Wno-parentheses")
+    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-format-security -Wno-parentheses")
+endif()
+
 ######################
 # variable definitions
 ######################