diff --git a/test_tf2/CMakeLists.txt b/test_tf2/CMakeLists.txt
index e8c47050d..ff0c9be04 100644
--- a/test_tf2/CMakeLists.txt
+++ b/test_tf2/CMakeLists.txt
@@ -9,7 +9,14 @@ if(NOT BUILD_TESTING)
   return()
 endif()
 
-set(CMAKE_CXX_STANDARD 14)
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -Wnon-virtual-dtor -Woverloaded-virtual)
+endif()
 
 find_package(ament_cmake_gtest REQUIRED)
 find_package(builtin_interfaces REQUIRED)
diff --git a/test_tf2/test/buffer_core_test.cpp b/test_tf2/test/buffer_core_test.cpp
index aedd87648..8f87c0c30 100644
--- a/test_tf2/test/buffer_core_test.cpp
+++ b/test_tf2/test/buffer_core_test.cpp
@@ -57,10 +57,11 @@ void seed_rand()
 {
   //Seed random number generator with current time.
   srand((unsigned) time(0));
-};
+}
 
 void generate_rand_vectors(double scale, uint64_t runs, std::vector<double>& xvalues, std::vector<double>& yvalues, std::vector<double>&zvalues)
 {
+  (void)scale;
   seed_rand();
   for ( uint64_t i = 0; i < runs ; i++ )
   {
@@ -680,8 +681,6 @@ TEST(BufferCore_lookupTransform, i_configuration)
     tf2::BufferCore mBC;
     setupTree(mBC, "i", eval_time, interpolation_space);
 
-    tf2::TimePoint eval_time_time_point = tf2_ros::fromMsg(eval_time);
-
     geometry_msgs::msg::TransformStamped outpose = mBC.lookupTransform(source_frame, target_frame, tf2_ros::fromMsg(eval_time));
 
     EXPECT_EQ(outpose.header.stamp, eval_time);
@@ -1765,7 +1764,7 @@ TEST(BufferCore_lookupTransform, invalid_arguments)
   EXPECT_THROW(mBC.lookupTransform("/b", "a", eval_time_time_point), tf2::InvalidArgumentException);
   EXPECT_THROW(mBC.lookupTransform("b", "/a", eval_time_time_point), tf2::InvalidArgumentException);
 
-};
+}
 
 TEST(BufferCore_canTransform, invalid_arguments)
 {
@@ -1787,7 +1786,7 @@ TEST(BufferCore_canTransform, invalid_arguments)
   EXPECT_FALSE(mBC.canTransform("/b", "a", eval_time_time_point));
   EXPECT_FALSE(mBC.canTransform("b", "/a", eval_time_time_point));
 
-};
+}
 
 struct TransformableHelper
 {
@@ -1801,6 +1800,11 @@ struct TransformableHelper
                 tf2::TimePoint time,
                 tf2::TransformableResult result)
   {
+    (void)request_handle;
+    (void)target_frame;
+    (void)source_frame;
+    (void)time;
+    (void)result;
     called = true;
   }
 
diff --git a/test_tf2/test/test_message_filter.cpp b/test_tf2/test/test_message_filter.cpp
index f1d46c814..658fd93d0 100644
--- a/test_tf2/test/test_message_filter.cpp
+++ b/test_tf2/test/test_message_filter.cpp
@@ -58,11 +58,14 @@ class Notification
 
   void notify(const geometry_msgs::msg::PointStamped::ConstSharedPtr& message)
   {
+    (void)message;
     ++count_;
   }
 
   void failure(const geometry_msgs::msg::PointStamped::ConstSharedPtr& message, tf2_ros::filter_failure_reasons::FilterFailureReason reason)
   {
+    (void)message;
+    (void)reason;
     ++failure_count_;
   }
 
diff --git a/test_tf2/test/test_static_publisher.cpp b/test_tf2/test/test_static_publisher.cpp
index f0cea01cd..731a9e041 100644
--- a/test_tf2/test/test_static_publisher.cpp
+++ b/test_tf2/test/test_static_publisher.cpp
@@ -79,7 +79,7 @@ TEST(StaticTransformPublisher, a_b_different_times)
   executor.cancel();
   spin_thread.join();
   node.reset();
-};
+}
 
 TEST(StaticTransformPublisher, a_c_different_times)
 {
@@ -111,7 +111,7 @@ TEST(StaticTransformPublisher, a_c_different_times)
   executor.cancel();
   spin_thread.join();
   node.reset();
-};
+}
 
 TEST(StaticTransformPublisher, a_d_different_times)
 {
@@ -160,7 +160,7 @@ TEST(StaticTransformPublisher, a_d_different_times)
   executor.cancel();
   spin_thread.join();
   node.reset();
-};
+}
 
 TEST(StaticTransformPublisher, multiple_parent_test)
 {
@@ -220,7 +220,7 @@ TEST(StaticTransformPublisher, multiple_parent_test)
   executor.cancel();
   spin_thread.join();
   node.reset();
-};
+}
 
 // TODO (ahcorde) static_transform_publisher allows to load transforma from yaml files
 // Revisit this test when "Load transform from yaml" is available
diff --git a/tf2_bullet/CMakeLists.txt b/tf2_bullet/CMakeLists.txt
index 8fe210460..c423d5062 100644
--- a/tf2_bullet/CMakeLists.txt
+++ b/tf2_bullet/CMakeLists.txt
@@ -1,13 +1,13 @@
 cmake_minimum_required(VERSION 3.5)
 project(tf2_bullet)
 
-# Default to C11
+# Default to C14
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+  add_compile_options(-Wall -Wextra -Wpedantic -Wnon-virtual-dtor -Woverloaded-virtual)
 endif()
 
 
diff --git a/tf2_eigen/CMakeLists.txt b/tf2_eigen/CMakeLists.txt
index 9bf4b6ae1..f29a38706 100644
--- a/tf2_eigen/CMakeLists.txt
+++ b/tf2_eigen/CMakeLists.txt
@@ -6,7 +6,7 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)
 endif()
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra)
+  add_compile_options(-Wall -Wextra -Wpedantic -Wnon-virtual-dtor -Woverloaded-virtual)
 endif()
 
 find_package(ament_cmake REQUIRED)
diff --git a/tf2_geometry_msgs/CMakeLists.txt b/tf2_geometry_msgs/CMakeLists.txt
index a427ac4b8..7d5fd6db7 100644
--- a/tf2_geometry_msgs/CMakeLists.txt
+++ b/tf2_geometry_msgs/CMakeLists.txt
@@ -6,7 +6,7 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)
 endif()
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra)
+  add_compile_options(-Wall -Wextra -Wpedantic -Wnon-virtual-dtor -Woverloaded-virtual)
 endif()
 
 find_package(ament_cmake_auto REQUIRED)
diff --git a/tf2_kdl/CMakeLists.txt b/tf2_kdl/CMakeLists.txt
index b24985fb0..c9934979a 100644
--- a/tf2_kdl/CMakeLists.txt
+++ b/tf2_kdl/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(-Wall -Wextra -Wpedantic -Wnon-virtual-dtor -Woverloaded-virtual)
 endif()
 
 find_package(ament_cmake REQUIRED)
diff --git a/tf2_msgs/CMakeLists.txt b/tf2_msgs/CMakeLists.txt
index 1d311f4f4..3396fa92a 100644
--- a/tf2_msgs/CMakeLists.txt
+++ b/tf2_msgs/CMakeLists.txt
@@ -6,7 +6,7 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)
 endif()
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+  add_compile_options(-Wall -Wextra -Wpedantic -Wnon-virtual-dtor -Woverloaded-virtual)
 endif()
 
 find_package(ament_cmake)
diff --git a/tf2_ros/CMakeLists.txt b/tf2_ros/CMakeLists.txt
index 200424f54..a9b33135f 100644
--- a/tf2_ros/CMakeLists.txt
+++ b/tf2_ros/CMakeLists.txt
@@ -6,7 +6,7 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)
 endif()
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+  add_compile_options(-Wall -Wextra -Wpedantic -Wnon-virtual-dtor -Woverloaded-virtual)
 endif()
 
 find_package(ament_cmake REQUIRED)
diff --git a/tf2_sensor_msgs/CMakeLists.txt b/tf2_sensor_msgs/CMakeLists.txt
index 1f9633004..45243b083 100644
--- a/tf2_sensor_msgs/CMakeLists.txt
+++ b/tf2_sensor_msgs/CMakeLists.txt
@@ -6,7 +6,7 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)
 endif()
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra)
+  add_compile_options(-Wall -Wextra -Wpedantic -Wnon-virtual-dtor -Woverloaded-virtual)
 endif()
 
 find_package(ament_cmake_auto REQUIRED)