diff --git a/moveit_ros/occupancy_map_monitor/CMakeLists.txt b/moveit_ros/occupancy_map_monitor/CMakeLists.txt
index c01ae8e3a5..5d9d6b7ad2 100644
--- a/moveit_ros/occupancy_map_monitor/CMakeLists.txt
+++ b/moveit_ros/occupancy_map_monitor/CMakeLists.txt
@@ -6,12 +6,6 @@ set(MOVEIT_LIB_NAME ${PROJECT_NAME})
 find_package(moveit_common REQUIRED)
 moveit_package()
 
-# Disable -Wpedantic warnings due to the warnings in ros-dashing-octomap
-# TODO: add -Wpedantic warnings back when PR(https://github.com/OctoMap/octomap/pull/275) is merged
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wno-pedantic)
-endif()
-
 if(APPLE)
   find_package(X11 REQUIRED)
 endif()
diff --git a/moveit_ros/perception/CMakeLists.txt b/moveit_ros/perception/CMakeLists.txt
index 34f2e89981..ec2822a07b 100644
--- a/moveit_ros/perception/CMakeLists.txt
+++ b/moveit_ros/perception/CMakeLists.txt
@@ -7,10 +7,6 @@ moveit_package()
 
 option(WITH_OPENGL "Build the parts that depend on OpenGL" ON)
 
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wpedantic)
-endif()
-
 if(WITH_OPENGL)
   # Prefer newer vendor-specific OpenGL library
   if(POLICY CMP0072)