diff --git a/franka_example_controllers/CMakeLists.txt b/franka_example_controllers/CMakeLists.txt
index b319e9f2..3ffafb62 100644
--- a/franka_example_controllers/CMakeLists.txt
+++ b/franka_example_controllers/CMakeLists.txt
@@ -8,7 +8,7 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-    add_compile_options(-Werror -Wall -Wextra -Wpedantic)
+    add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
 option(CHECK_TIDY "Adds clang-tidy tests" OFF)
diff --git a/franka_gripper/CMakeLists.txt b/franka_gripper/CMakeLists.txt
index aab5ffde..b386361c 100644
--- a/franka_gripper/CMakeLists.txt
+++ b/franka_gripper/CMakeLists.txt
@@ -6,7 +6,7 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-    add_compile_options(-Werror -Wall -Wextra -Wpedantic)
+    add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
 find_package(ament_cmake REQUIRED)
diff --git a/franka_hardware/CMakeLists.txt b/franka_hardware/CMakeLists.txt
index c4277e93..c8e8f234 100644
--- a/franka_hardware/CMakeLists.txt
+++ b/franka_hardware/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(-Werror -Wall -Wextra -Wpedantic)
+  add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
 option(CHECK_TIDY "Adds clang-tidy tests" OFF)
diff --git a/franka_hardware/test/CMakeLists.txt b/franka_hardware/test/CMakeLists.txt
index 994b0ea6..7a21fbe4 100644
--- a/franka_hardware/test/CMakeLists.txt
+++ b/franka_hardware/test/CMakeLists.txt
@@ -7,6 +7,3 @@ target_link_libraries(${PROJECT_NAME}_test  ${PROJECT_NAME})
 if(${hardware_interface_VERSION} VERSION_GREATER_EQUAL "4.20")
     target_compile_definitions(${PROJECT_NAME}_test PRIVATE HW_HAS_GET_BY_REF)
 endif()
-
-# ignore type punning via 'reinterpret_cast<double*>(&[...])'
-target_compile_options(${PROJECT_NAME}_test PRIVATE -Wno-error=strict-aliasing)
diff --git a/franka_robot_state_broadcaster/CMakeLists.txt b/franka_robot_state_broadcaster/CMakeLists.txt
index f630cfbb..7f28efc8 100644
--- a/franka_robot_state_broadcaster/CMakeLists.txt
+++ b/franka_robot_state_broadcaster/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(-Werror -Wall -Wextra -Wpedantic)
+    add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
 option(CHECK_TIDY "Adds clang-tidy tests" OFF)
diff --git a/franka_semantic_components/CMakeLists.txt b/franka_semantic_components/CMakeLists.txt
index c56f2b00..3c72bc85 100644
--- a/franka_semantic_components/CMakeLists.txt
+++ b/franka_semantic_components/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(-Werror -Wall -Wextra -Wpedantic)
+  add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
 option(CHECK_TIDY "Adds clang-tidy tests" OFF)
diff --git a/integration_launch_testing/CMakeLists.txt b/integration_launch_testing/CMakeLists.txt
index 927e8354..49c5771d 100644
--- a/integration_launch_testing/CMakeLists.txt
+++ b/integration_launch_testing/CMakeLists.txt
@@ -8,7 +8,7 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-    add_compile_options(-Werror -Wall -Wextra -Wpedantic)
+    add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
 # find dependencies