diff --git a/controller_interface/CMakeLists.txt b/controller_interface/CMakeLists.txt
index 7486ee3414..56b2fb0164 100644
--- a/controller_interface/CMakeLists.txt
+++ b/controller_interface/CMakeLists.txt
@@ -1,8 +1,13 @@
 cmake_minimum_required(VERSION 3.5)
 project(controller_interface)
 
+<<<<<<< HEAD
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra)
+=======
+if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
+  add_compile_options(-Wall -Wextra -Wconversion)
+>>>>>>> 1b83a5b (Add -Wconversion flag to protect future developments (#1053))
 endif()
 
 find_package(ament_cmake REQUIRED)
diff --git a/controller_manager/CMakeLists.txt b/controller_manager/CMakeLists.txt
index 53999d4f70..f4979ba2af 100644
--- a/controller_manager/CMakeLists.txt
+++ b/controller_manager/CMakeLists.txt
@@ -1,8 +1,13 @@
 cmake_minimum_required(VERSION 3.5)
 project(controller_manager)
 
+<<<<<<< HEAD
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra)
+=======
+if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
+  add_compile_options(-Wall -Wextra -Wconversion)
+>>>>>>> 1b83a5b (Add -Wconversion flag to protect future developments (#1053))
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
diff --git a/hardware_interface/CMakeLists.txt b/hardware_interface/CMakeLists.txt
index 5892f0c3b3..909ff69b6b 100644
--- a/hardware_interface/CMakeLists.txt
+++ b/hardware_interface/CMakeLists.txt
@@ -1,8 +1,13 @@
 cmake_minimum_required(VERSION 3.5)
 project(hardware_interface)
 
+<<<<<<< HEAD
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra)
+=======
+if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
+  add_compile_options(-Wall -Wextra -Wconversion)
+>>>>>>> 1b83a5b (Add -Wconversion flag to protect future developments (#1053))
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
diff --git a/hardware_interface/src/component_parser.cpp b/hardware_interface/src/component_parser.cpp
index 7792b0fbf4..e087d39c95 100644
--- a/hardware_interface/src/component_parser.cpp
+++ b/hardware_interface/src/component_parser.cpp
@@ -348,7 +348,8 @@ ComponentInfo parse_complex_component_from_xml(const tinyxml2::XMLElement * comp
     component.command_interfaces.push_back(parse_interfaces_from_xml(command_interfaces_it));
     component.command_interfaces.back().data_type =
       parse_data_type_attribute(command_interfaces_it);
-    component.command_interfaces.back().size = parse_size_attribute(command_interfaces_it);
+    component.command_interfaces.back().size =
+      static_cast<int>(parse_size_attribute(command_interfaces_it));
     command_interfaces_it = command_interfaces_it->NextSiblingElement(kCommandInterfaceTag);
   }
 
@@ -358,7 +359,8 @@ ComponentInfo parse_complex_component_from_xml(const tinyxml2::XMLElement * comp
   {
     component.state_interfaces.push_back(parse_interfaces_from_xml(state_interfaces_it));
     component.state_interfaces.back().data_type = parse_data_type_attribute(state_interfaces_it);
-    component.state_interfaces.back().size = parse_size_attribute(state_interfaces_it);
+    component.state_interfaces.back().size =
+      static_cast<int>(parse_size_attribute(state_interfaces_it));
     state_interfaces_it = state_interfaces_it->NextSiblingElement(kStateInterfaceTag);
   }
 
diff --git a/joint_limits/CMakeLists.txt b/joint_limits/CMakeLists.txt
index 314ec67272..a4fd1b198b 100644
--- a/joint_limits/CMakeLists.txt
+++ b/joint_limits/CMakeLists.txt
@@ -1,6 +1,7 @@
 cmake_minimum_required(VERSION 3.5)
 project(joint_limits)
 
+<<<<<<< HEAD
 # Default to C++14
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)
@@ -8,6 +9,10 @@ endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra)
+=======
+if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
+  add_compile_options(-Wall -Wextra -Wconversion)
+>>>>>>> 1b83a5b (Add -Wconversion flag to protect future developments (#1053))
 endif()
 
 find_package(ament_cmake REQUIRED)
diff --git a/transmission_interface/CMakeLists.txt b/transmission_interface/CMakeLists.txt
index 1a51bbb3e8..02557008b0 100644
--- a/transmission_interface/CMakeLists.txt
+++ b/transmission_interface/CMakeLists.txt
@@ -1,8 +1,13 @@
 cmake_minimum_required(VERSION 3.5)
 project(transmission_interface)
 
+<<<<<<< HEAD
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
+=======
+if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
+  add_compile_options(-Wall -Wextra -Wpedantic -Wconversion)
+>>>>>>> 1b83a5b (Add -Wconversion flag to protect future developments (#1053))
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
diff --git a/transmission_interface/test/random_generator_utils.hpp b/transmission_interface/test/random_generator_utils.hpp
index 01e1245e48..07995736c0 100644
--- a/transmission_interface/test/random_generator_utils.hpp
+++ b/transmission_interface/test/random_generator_utils.hpp
@@ -33,7 +33,11 @@ struct RandomDoubleGenerator
   RandomDoubleGenerator(double min_val, double max_val, unsigned int seed = 1234)
   : min_val_(min_val), max_val_(max_val)
   {
+<<<<<<< HEAD
     srand(seed);
+=======
+    srand(static_cast<unsigned int>(time(nullptr)));
+>>>>>>> 1b83a5b (Add -Wconversion flag to protect future developments (#1053))
   }
   double operator()()
   {