diff --git a/CMakeLists.txt b/CMakeLists.txt
index ccf5a9b..cd0aceb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,6 +1,10 @@
 cmake_minimum_required(VERSION 3.5)
 project(web_video_server)
 
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
 find_package(ament_cmake_ros REQUIRED)
 
 find_package(async_web_server_cpp REQUIRED)
diff --git a/src/image_streamer.cpp b/src/image_streamer.cpp
index 8a83958..564e1dc 100644
--- a/src/image_streamer.cpp
+++ b/src/image_streamer.cpp
@@ -44,7 +44,7 @@ namespace web_video_server
 ImageStreamer::ImageStreamer(
   const async_web_server_cpp::HttpRequest & request,
   async_web_server_cpp::HttpConnectionPtr connection, rclcpp::Node::SharedPtr node)
-: request_(request), connection_(connection), node_(node), inactive_(false)
+: connection_(connection), request_(request), node_(node), inactive_(false)
 {
   topic_ = request.get_query_param_value_or_default("topic", "");
 }
diff --git a/src/libav_streamer.cpp b/src/libav_streamer.cpp
index 4814c4e..62f293f 100644
--- a/src/libav_streamer.cpp
+++ b/src/libav_streamer.cpp
@@ -44,9 +44,9 @@ LibavStreamer::LibavStreamer(
   const std::string & format_name, const std::string & codec_name,
   const std::string & content_type)
 : ImageTransportImageStreamer(request, connection, node), format_context_(0), codec_(0),
-  codec_context_(0), video_stream_(0), frame_(0), sws_context_(0),
+  codec_context_(0), video_stream_(0), opt_(0), frame_(0), sws_context_(0),
   first_image_received_(false), first_image_time_(), format_name_(format_name),
-  codec_name_(codec_name), content_type_(content_type), opt_(0), io_buffer_(0)
+  codec_name_(codec_name), content_type_(content_type), io_buffer_(0)
 {
   bitrate_ = request.get_query_param_value_or_default<int>("bitrate", 100000);
   qmin_ = request.get_query_param_value_or_default<int>("qmin", 10);
@@ -87,7 +87,7 @@ static int dispatch_output_packet(void * opaque, uint8_t * buffer, int buffer_si
   return 0;
 }
 
-void LibavStreamer::initialize(const cv::Mat & img)
+void LibavStreamer::initialize(const cv::Mat & /* img */)
 {
   // Load format
   format_context_ = avformat_alloc_context();
@@ -274,9 +274,6 @@ void LibavStreamer::sendImage(
   }
 
   if (got_packet) {
-    std::size_t size;
-    uint8_t * output_buf;
-
     double seconds = std::chrono::duration_cast<std::chrono::duration<double>>(
       time - first_image_time_).count();
     // Encode video at 1/0.95 to minimize delay
diff --git a/src/multipart_stream.cpp b/src/multipart_stream.cpp
index b26d229..0429272 100644
--- a/src/multipart_stream.cpp
+++ b/src/multipart_stream.cpp
@@ -38,7 +38,7 @@ MultipartStream::MultipartStream(
   async_web_server_cpp::HttpConnectionPtr & connection,
   const std::string & boundry,
   std::size_t max_queue_size)
-: connection_(connection), boundry_(boundry), max_queue_size_(max_queue_size)
+: max_queue_size_(max_queue_size), connection_(connection), boundry_(boundry)
 {}
 
 void MultipartStream::sendInitialHeader()
diff --git a/src/web_video_server.cpp b/src/web_video_server.cpp
index 5f548c3..24db2fb 100644
--- a/src/web_video_server.cpp
+++ b/src/web_video_server.cpp
@@ -212,8 +212,8 @@ bool WebVideoServer::handle_stream(
 
 bool WebVideoServer::handle_snapshot(
   const async_web_server_cpp::HttpRequest & request,
-  async_web_server_cpp::HttpConnectionPtr connection, const char * begin,
-  const char * end)
+  async_web_server_cpp::HttpConnectionPtr connection, const char * /* begin */,
+  const char * /* end */)
 {
   std::shared_ptr<ImageStreamer> streamer = std::make_shared<JpegSnapshotStreamer>(
     request, connection, shared_from_this());
@@ -278,9 +278,9 @@ bool WebVideoServer::handle_stream_viewer(
 }
 
 bool WebVideoServer::handle_list_streams(
-  const async_web_server_cpp::HttpRequest & request,
-  async_web_server_cpp::HttpConnectionPtr connection, const char * begin,
-  const char * end)
+  const async_web_server_cpp::HttpRequest & /* request */,
+  async_web_server_cpp::HttpConnectionPtr connection, const char * /* begin */,
+  const char * /* end */)
 {
   std::vector<std::string> image_topics;
   std::vector<std::string> camera_info_topics;