diff --git a/controller_interface/CMakeLists.txt b/controller_interface/CMakeLists.txt
index 034556d19f..88a54d5c7a 100644
--- a/controller_interface/CMakeLists.txt
+++ b/controller_interface/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.16)
 project(controller_interface LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra)
+  add_compile_options(-Wall -Wextra -Wconversion)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
diff --git a/controller_manager/CMakeLists.txt b/controller_manager/CMakeLists.txt
index 1118856e48..77ba823e1f 100644
--- a/controller_manager/CMakeLists.txt
+++ b/controller_manager/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.16)
 project(controller_manager LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra)
+  add_compile_options(-Wall -Wextra -Wconversion)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
diff --git a/hardware_interface/CMakeLists.txt b/hardware_interface/CMakeLists.txt
index 77eec3ec86..6548d6186c 100644
--- a/hardware_interface/CMakeLists.txt
+++ b/hardware_interface/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.16)
 project(hardware_interface LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra)
+  add_compile_options(-Wall -Wextra -Wconversion)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
diff --git a/hardware_interface/src/component_parser.cpp b/hardware_interface/src/component_parser.cpp
index 1338489a07..6d06c0fe8e 100644
--- a/hardware_interface/src/component_parser.cpp
+++ b/hardware_interface/src/component_parser.cpp
@@ -367,7 +367,7 @@ ComponentInfo parse_complex_component_from_xml(const tinyxml2::XMLElement * comp
     component.command_interfaces.push_back(parse_interfaces_from_xml(command_interfaces_it));
     component.command_interfaces.back().data_type =
       parse_data_type_attribute(command_interfaces_it);
-    component.command_interfaces.back().size = parse_size_attribute(command_interfaces_it);
+    component.command_interfaces.back().size = static_cast<int>(parse_size_attribute(command_interfaces_it));
     command_interfaces_it = command_interfaces_it->NextSiblingElement(kCommandInterfaceTag);
   }
 
@@ -377,7 +377,7 @@ ComponentInfo parse_complex_component_from_xml(const tinyxml2::XMLElement * comp
   {
     component.state_interfaces.push_back(parse_interfaces_from_xml(state_interfaces_it));
     component.state_interfaces.back().data_type = parse_data_type_attribute(state_interfaces_it);
-    component.state_interfaces.back().size = parse_size_attribute(state_interfaces_it);
+    component.state_interfaces.back().size = static_cast<int>(parse_size_attribute(state_interfaces_it));
     state_interfaces_it = state_interfaces_it->NextSiblingElement(kStateInterfaceTag);
   }
 
diff --git a/joint_limits/CMakeLists.txt b/joint_limits/CMakeLists.txt
index 9ec9221220..82467514a3 100644
--- a/joint_limits/CMakeLists.txt
+++ b/joint_limits/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.16)
 project(joint_limits LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra)
+  add_compile_options(-Wall -Wextra -Wconversion)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
diff --git a/transmission_interface/CMakeLists.txt b/transmission_interface/CMakeLists.txt
index 8ae2cc224c..d4674366e9 100644
--- a/transmission_interface/CMakeLists.txt
+++ b/transmission_interface/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.16)
 project(transmission_interface LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+  add_compile_options(-Wall -Wextra -Wpedantic -Wconversion)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
diff --git a/transmission_interface/test/random_generator_utils.hpp b/transmission_interface/test/random_generator_utils.hpp
index e6088f1b2f..fbacd1ba3b 100644
--- a/transmission_interface/test/random_generator_utils.hpp
+++ b/transmission_interface/test/random_generator_utils.hpp
@@ -31,7 +31,7 @@ struct RandomDoubleGenerator
 public:
   RandomDoubleGenerator(double min_val, double max_val) : min_val_(min_val), max_val_(max_val)
   {
-    srand(time(nullptr));
+    srand(static_cast<unsigned int>(time(nullptr)));
   }
   double operator()()
   {