diff --git a/CMakeLists.txt b/CMakeLists.txt
index 06779d25..1000d2d0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -41,6 +41,9 @@ find_package(urdfdom_headers 1.0 REQUIRED)
 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)
+endif()
 
 find_package(console_bridge_vendor REQUIRED) # Provides console_bridge 0.4.0 on platforms without it.
 find_package(console_bridge REQUIRED)
diff --git a/urdf_parser/CMakeLists.txt b/urdf_parser/CMakeLists.txt
index 00315412..d230d534 100644
--- a/urdf_parser/CMakeLists.txt
+++ b/urdf_parser/CMakeLists.txt
@@ -4,7 +4,7 @@ add_library(urdfdom_world SHARED
   src/link.cpp
   src/joint.cpp
   src/world.cpp)
-target_include_directories(urdfdom_world PUBLIC
+target_include_directories(urdfdom_world SYSTEM PUBLIC
   ${TinyXML_INCLUDE_DIRS}
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<INSTALL_INTERFACE:include>")
@@ -19,7 +19,7 @@ add_library(urdfdom_model SHARED
   src/model.cpp
   src/link.cpp
   src/joint.cpp)
-target_include_directories(urdfdom_model PUBLIC
+target_include_directories(urdfdom_model SYSTEM PUBLIC
   ${TinyXML_INCLUDE_DIRS}
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<INSTALL_INTERFACE:include>")
@@ -30,7 +30,7 @@ target_link_libraries(urdfdom_model PUBLIC
 set_target_properties(urdfdom_model PROPERTIES SOVERSION ${URDF_MAJOR_MINOR_VERSION})
 
 add_library(urdfdom_sensor SHARED src/urdf_sensor.cpp)
-target_include_directories(urdfdom_sensor PUBLIC
+target_include_directories(urdfdom_sensor SYSTEM PUBLIC
   ${TinyXML_INCLUDE_DIRS}
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<INSTALL_INTERFACE:include>")
@@ -44,7 +44,7 @@ set_target_properties(urdfdom_sensor PROPERTIES SOVERSION ${URDF_MAJOR_MINOR_VER
 add_library(urdfdom_model_state SHARED
   src/urdf_model_state.cpp
   src/twist.cpp)
-target_include_directories(urdfdom_model_state PUBLIC
+target_include_directories(urdfdom_model_state SYSTEM PUBLIC
   ${TinyXML_INCLUDE_DIRS}
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<INSTALL_INTERFACE:include>")
diff --git a/urdf_parser/test/memtest.cpp b/urdf_parser/test/memtest.cpp
index d835eb3d..86d231ea 100644
--- a/urdf_parser/test/memtest.cpp
+++ b/urdf_parser/test/memtest.cpp
@@ -3,6 +3,10 @@
 #include <iostream>
 
 int main(int argc, char** argv){
+  if (argc != 2) {
+    fprintf(stderr, "Usage: %s <urdf>\n", argv[0]);
+    return 1;
+  }
   while (true){
     std::string xml_string;
     std::fstream xml_file(argv[1], std::fstream::in);
@@ -17,4 +21,5 @@ int main(int argc, char** argv){
 
     urdf::parseURDF(xml_string);
   }
+  return 0;
 }