diff --git a/ackermann_steering_controller/CMakeLists.txt b/ackermann_steering_controller/CMakeLists.txt
index ff76da8853..6ad0e9485f 100644
--- a/ackermann_steering_controller/CMakeLists.txt
+++ b/ackermann_steering_controller/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.16)
 project(ackermann_steering_controller LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+  add_compile_options(-Wall -Wextra -Wpedantic -Wconversion)
 endif()
 
 # find dependencies
diff --git a/admittance_controller/CMakeLists.txt b/admittance_controller/CMakeLists.txt
index 8faa59fc79..97a1d9b813 100644
--- a/admittance_controller/CMakeLists.txt
+++ b/admittance_controller/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.16)
 project(admittance_controller 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/bicycle_steering_controller/CMakeLists.txt b/bicycle_steering_controller/CMakeLists.txt
index 8ac12fe0a0..5d662c1fec 100644
--- a/bicycle_steering_controller/CMakeLists.txt
+++ b/bicycle_steering_controller/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.16)
 project(bicycle_steering_controller LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+  add_compile_options(-Wall -Wextra -Wpedantic -Wconversion)
 endif()
 
 # find dependencies
diff --git a/diff_drive_controller/CMakeLists.txt b/diff_drive_controller/CMakeLists.txt
index c4dc356a79..aa71c70745 100644
--- a/diff_drive_controller/CMakeLists.txt
+++ b/diff_drive_controller/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.16)
 project(diff_drive_controller 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/diff_drive_controller/src/diff_drive_controller.cpp b/diff_drive_controller/src/diff_drive_controller.cpp
index be4ba1fc5d..b4f6017f7e 100644
--- a/diff_drive_controller/src/diff_drive_controller.cpp
+++ b/diff_drive_controller/src/diff_drive_controller.cpp
@@ -167,8 +167,8 @@ controller_interface::return_type DiffDriveController::update(
       left_feedback_mean += left_feedback;
       right_feedback_mean += right_feedback;
     }
-    left_feedback_mean /= params_.wheels_per_side;
-    right_feedback_mean /= params_.wheels_per_side;
+    left_feedback_mean /= static_cast<double>(params_.wheels_per_side);
+    right_feedback_mean /= static_cast<double>(params_.wheels_per_side);
 
     if (params_.position_feedback)
     {
diff --git a/effort_controllers/CMakeLists.txt b/effort_controllers/CMakeLists.txt
index 340bb19825..ad97690655 100644
--- a/effort_controllers/CMakeLists.txt
+++ b/effort_controllers/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.16)
 project(effort_controllers 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/force_torque_sensor_broadcaster/CMakeLists.txt b/force_torque_sensor_broadcaster/CMakeLists.txt
index b8143cf94b..2af5500e21 100644
--- a/force_torque_sensor_broadcaster/CMakeLists.txt
+++ b/force_torque_sensor_broadcaster/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.16)
 project(force_torque_sensor_broadcaster 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/forward_command_controller/CMakeLists.txt b/forward_command_controller/CMakeLists.txt
index 46189fe5ac..15ffe09750 100644
--- a/forward_command_controller/CMakeLists.txt
+++ b/forward_command_controller/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.16)
 project(forward_command_controller 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/forward_command_controller/test/test_forward_command_controller.cpp b/forward_command_controller/test/test_forward_command_controller.cpp
index 6836610c4c..242c5bb1fe 100644
--- a/forward_command_controller/test/test_forward_command_controller.cpp
+++ b/forward_command_controller/test/test_forward_command_controller.cpp
@@ -222,7 +222,7 @@ TEST_F(ForwardCommandControllerTest, CommandSuccessTest)
 
   // update successful, command received
   ASSERT_EQ(
-    controller_->update(rclcpp::Time(0.1), rclcpp::Duration::from_seconds(0.01)),
+    controller_->update(rclcpp::Time(100000000), rclcpp::Duration::from_seconds(0.01)),
     controller_interface::return_type::OK);
 
   // check joint commands have been modified
diff --git a/forward_command_controller/test/test_multi_interface_forward_command_controller.cpp b/forward_command_controller/test/test_multi_interface_forward_command_controller.cpp
index adc04de799..311a4dcdaa 100644
--- a/forward_command_controller/test/test_multi_interface_forward_command_controller.cpp
+++ b/forward_command_controller/test/test_multi_interface_forward_command_controller.cpp
@@ -203,7 +203,7 @@ TEST_F(MultiInterfaceForwardCommandControllerTest, CommandSuccessTest)
 
   // update successful, command received
   ASSERT_EQ(
-    controller_->update(rclcpp::Time(0.1), rclcpp::Duration::from_seconds(0.01)),
+    controller_->update(rclcpp::Time(100000000), rclcpp::Duration::from_seconds(0.01)),
     controller_interface::return_type::OK);
 
   // check command in handle was set
@@ -298,7 +298,7 @@ TEST_F(MultiInterfaceForwardCommandControllerTest, ActivateDeactivateCommandsRes
 
   // update successful, command received
   ASSERT_EQ(
-    controller_->update(rclcpp::Time(0.1), rclcpp::Duration::from_seconds(0.01)),
+    controller_->update(rclcpp::Time(100000000), rclcpp::Duration::from_seconds(0.01)),
     controller_interface::return_type::OK);
 
   // check command in handle was set
diff --git a/gripper_controllers/CMakeLists.txt b/gripper_controllers/CMakeLists.txt
index e8fd1e5d7e..8edaaf6386 100644
--- a/gripper_controllers/CMakeLists.txt
+++ b/gripper_controllers/CMakeLists.txt
@@ -7,7 +7,7 @@ if(APPLE OR WIN32)
 endif()
 
 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/imu_sensor_broadcaster/CMakeLists.txt b/imu_sensor_broadcaster/CMakeLists.txt
index 3cd2ec3d79..3b09d9e72e 100644
--- a/imu_sensor_broadcaster/CMakeLists.txt
+++ b/imu_sensor_broadcaster/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.16)
 project(imu_sensor_broadcaster 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/joint_state_broadcaster/CMakeLists.txt b/joint_state_broadcaster/CMakeLists.txt
index 018adef23a..cadc96b4e3 100644
--- a/joint_state_broadcaster/CMakeLists.txt
+++ b/joint_state_broadcaster/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.16)
 project(joint_state_broadcaster 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/joint_trajectory_controller/CMakeLists.txt b/joint_trajectory_controller/CMakeLists.txt
index 9b5b1396bf..1d9eadd35b 100644
--- a/joint_trajectory_controller/CMakeLists.txt
+++ b/joint_trajectory_controller/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.16)
 project(joint_trajectory_controller 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/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp
index a6b016cbf0..67ddbfb291 100644
--- a/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp
+++ b/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp
@@ -293,7 +293,7 @@ SegmentTolerances get_segment_tolerances(
  * REALTIME if true \return True if \p state_error fulfills \p state_tolerance.
  */
 inline bool check_state_tolerance_per_joint(
-  const trajectory_msgs::msg::JointTrajectoryPoint & state_error, int joint_idx,
+  const trajectory_msgs::msg::JointTrajectoryPoint & state_error, size_t joint_idx,
   const StateTolerances & state_tolerance, bool show_errors = false)
 {
   using std::abs;
diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
index 907752e9a9..504ad9db53 100644
--- a/joint_trajectory_controller/src/joint_trajectory_controller.cpp
+++ b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -136,7 +136,7 @@ controller_interface::return_type JointTrajectoryController::update(
   }
 
   auto compute_error_for_joint = [&](
-                                   JointTrajectoryPoint & error, int index,
+                                   JointTrajectoryPoint & error, size_t index,
                                    const JointTrajectoryPoint & current,
                                    const JointTrajectoryPoint & desired)
   {
diff --git a/position_controllers/CMakeLists.txt b/position_controllers/CMakeLists.txt
index 05714a6e46..54a4f94656 100644
--- a/position_controllers/CMakeLists.txt
+++ b/position_controllers/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.16)
 project(position_controllers 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/steering_controllers_library/CMakeLists.txt b/steering_controllers_library/CMakeLists.txt
index 2ee9de7f70..741577ef5e 100644
--- a/steering_controllers_library/CMakeLists.txt
+++ b/steering_controllers_library/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.16)
 project(steering_controllers_library LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+  add_compile_options(-Wall -Wextra -Wpedantic -Wconversion)
 endif()
 
 # find dependencies
diff --git a/tricycle_controller/CMakeLists.txt b/tricycle_controller/CMakeLists.txt
index 04b0293501..fb16a75699 100644
--- a/tricycle_controller/CMakeLists.txt
+++ b/tricycle_controller/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.16)
 project(tricycle_controller 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/tricycle_controller/src/traction_limiter.cpp b/tricycle_controller/src/traction_limiter.cpp
index 7865d4be71..8705f2e268 100644
--- a/tricycle_controller/src/traction_limiter.cpp
+++ b/tricycle_controller/src/traction_limiter.cpp
@@ -103,7 +103,7 @@ double TractionLimiter::limit_acceleration(double & v, double v0, double dt)
 
   double dv_min;
   double dv_max;
-  if (abs(v) >= abs(v0))
+  if (std::fabs(v) >= std::fabs(v0))
   {
     dv_min = min_acceleration_ * dt;
     dv_max = max_acceleration_ * dt;
diff --git a/tricycle_controller/src/tricycle_controller.cpp b/tricycle_controller/src/tricycle_controller.cpp
index 896e266604..af1a535df8 100644
--- a/tricycle_controller/src/tricycle_controller.cpp
+++ b/tricycle_controller/src/tricycle_controller.cpp
@@ -67,7 +67,7 @@ CallbackReturn TricycleController::on_init()
     auto_declare<bool>("enable_odom_tf", odom_params_.enable_odom_tf);
     auto_declare<bool>("odom_only_twist", odom_params_.odom_only_twist);
 
-    auto_declare<int>("cmd_vel_timeout", cmd_vel_timeout_.count());
+    auto_declare<int>("cmd_vel_timeout", static_cast<int>(cmd_vel_timeout_.count()));
     auto_declare<bool>("publish_ackermann_command", publish_ackermann_command_);
     auto_declare<int>("velocity_rolling_window_size", 10);
     auto_declare<bool>("use_stamped_vel", use_stamped_vel_);
@@ -234,8 +234,8 @@ controller_interface::return_type TricycleController::update(
   AckermannDrive ackermann_command;
   // speed in AckermannDrive is defined as desired forward speed (m/s) but it is used here as wheel
   // speed (rad/s)
-  ackermann_command.speed = Ws_write;
-  ackermann_command.steering_angle = alpha_write;
+  ackermann_command.speed = static_cast<float>(Ws_write);
+  ackermann_command.steering_angle = static_cast<float>(alpha_write);
   previous_commands_.emplace(ackermann_command);
 
   //  Publish ackermann command
@@ -244,8 +244,8 @@ controller_interface::return_type TricycleController::update(
     auto & realtime_ackermann_command = realtime_ackermann_command_publisher_->msg_;
     // speed in AckermannDrive is defined desired forward speed (m/s) but we use it here as wheel
     // speed (rad/s)
-    realtime_ackermann_command.speed = Ws_write;
-    realtime_ackermann_command.steering_angle = alpha_write;
+    realtime_ackermann_command.speed = static_cast<float>(Ws_write);
+    realtime_ackermann_command.steering_angle = static_cast<float>(alpha_write);
     realtime_ackermann_command_publisher_->unlockAndPublish();
   }
 
diff --git a/tricycle_steering_controller/CMakeLists.txt b/tricycle_steering_controller/CMakeLists.txt
index c604b89452..4c56d68185 100644
--- a/tricycle_steering_controller/CMakeLists.txt
+++ b/tricycle_steering_controller/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.16)
 project(tricycle_steering_controller LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+  add_compile_options(-Wall -Wextra -Wpedantic -Wconversion)
 endif()
 
 # find dependencies
diff --git a/velocity_controllers/CMakeLists.txt b/velocity_controllers/CMakeLists.txt
index 27ec8417bb..3642ae1cb9 100644
--- a/velocity_controllers/CMakeLists.txt
+++ b/velocity_controllers/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.16)
 project(velocity_controllers 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