diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index 5028fb2bf8..2834534077 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -30,6 +30,14 @@ jobs:
           rosbag2_tests
         target-ros2-distro: rolling
         vcs-repo-file-url: https://raw.githubusercontent.com/ros2/ros2/master/ros2.repos
+        colcon-defaults: |
+          {
+            "build": {
+              "cmake-args": [
+                "-DCMAKE_CXX_FLAGS=\"-Werror\""
+              ]
+            }
+          }
     - uses: actions/upload-artifact@v1
       with:
         name: colcon-logs
diff --git a/rosbag2_cpp/CMakeLists.txt b/rosbag2_cpp/CMakeLists.txt
index d155273be3..0a61a7e0ce 100644
--- a/rosbag2_cpp/CMakeLists.txt
+++ b/rosbag2_cpp/CMakeLists.txt
@@ -14,7 +14,7 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
+  add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wthread-safety)
diff --git a/rosbag2_py/CMakeLists.txt b/rosbag2_py/CMakeLists.txt
index e7a4b5613c..a5284cad2d 100644
--- a/rosbag2_py/CMakeLists.txt
+++ b/rosbag2_py/CMakeLists.txt
@@ -12,7 +12,7 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
+  add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
 find_package(ament_cmake REQUIRED)
diff --git a/rosbag2_storage/CMakeLists.txt b/rosbag2_storage/CMakeLists.txt
index fea976d971..ae208b79d5 100644
--- a/rosbag2_storage/CMakeLists.txt
+++ b/rosbag2_storage/CMakeLists.txt
@@ -12,7 +12,7 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
+  add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
 # Windows supplies macros for min and max by default. We should only use min and max from stl
diff --git a/rosbag2_storage_default_plugins/CMakeLists.txt b/rosbag2_storage_default_plugins/CMakeLists.txt
index a83a86ad41..a4a54fe93e 100644
--- a/rosbag2_storage_default_plugins/CMakeLists.txt
+++ b/rosbag2_storage_default_plugins/CMakeLists.txt
@@ -12,7 +12,7 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
+  add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
 # Windows supplies macros for min and max by default. We should only use min and max from stl
diff --git a/rosbag2_test_common/CMakeLists.txt b/rosbag2_test_common/CMakeLists.txt
index f764c3663f..afa4a55fd8 100644
--- a/rosbag2_test_common/CMakeLists.txt
+++ b/rosbag2_test_common/CMakeLists.txt
@@ -17,7 +17,7 @@ if(WIN32)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
+  add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
 find_package(ament_cmake REQUIRED)
diff --git a/rosbag2_tests/CMakeLists.txt b/rosbag2_tests/CMakeLists.txt
index 550abb22dc..1902cca414 100644
--- a/rosbag2_tests/CMakeLists.txt
+++ b/rosbag2_tests/CMakeLists.txt
@@ -19,7 +19,7 @@ if(WIN32)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
+  add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
 find_package(ament_cmake REQUIRED)
diff --git a/rosbag2_transport/CMakeLists.txt b/rosbag2_transport/CMakeLists.txt
index c2536bb69c..60b9ea7968 100644
--- a/rosbag2_transport/CMakeLists.txt
+++ b/rosbag2_transport/CMakeLists.txt
@@ -12,7 +12,7 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
+  add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
 # Windows supplies macros for min and max by default. We should only use min and max from stl
diff --git a/rosbag2_transport/test/rosbag2_transport/test_record.cpp b/rosbag2_transport/test/rosbag2_transport/test_record.cpp
index 78f77d60a6..c7b93c3b44 100644
--- a/rosbag2_transport/test/rosbag2_transport/test_record.cpp
+++ b/rosbag2_transport/test/rosbag2_transport/test_record.cpp
@@ -167,7 +167,7 @@ TEST_F(RecordIntegrationTestFixture, receives_latched_messages)
   bool succeeded = rosbag2_test_common::spin_and_wait_for(
     std::chrono::seconds(5), publisher_node,
     // The = is necessary due to an implementation difference between clang and windows
-    // Clang claims capture is unecessary (and we use -Werror), but windows needs it
+    // Clang claims capture is unecessary, but windows needs it
     [&writer, num_latched_messages = num_latched_messages]() {
       return writer.get_messages().size() == num_latched_messages;
     });