diff --git a/CMakeLists.txt b/CMakeLists.txt
index 524dd3e..6419879 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -26,6 +26,9 @@ generate_dynamic_reconfigure_options(
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
+add_definitions(-Wall)
+add_definitions(-Wextra)
+
 if(COVERAGE)
   message(WARNING "building with --coverage, the performance might be limited")
   set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} --coverage")