diff --git a/translation_node/CMakeLists.txt b/translation_node/CMakeLists.txt
index c382c18..c33a85a 100644
--- a/translation_node/CMakeLists.txt
+++ b/translation_node/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.8)
 project(translation_node)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+  add_compile_options(-Wall -Wextra -Wpedantic -Wno-unused-parameter -Werror)
 endif()
 
 # find dependencies
diff --git a/translation_node/src/pub_sub_graph.cpp b/translation_node/src/pub_sub_graph.cpp
index e978469..82cc658 100644
--- a/translation_node/src/pub_sub_graph.cpp
+++ b/translation_node/src/pub_sub_graph.cpp
@@ -140,10 +140,14 @@ void PubSubGraph::updateCurrentTopics(const std::vector<TopicInfo> &topics) {
 void PubSubGraph::onSubscriptionUpdate(const Graph<NodeDataPubSub>::MessageNodePtr& node) {
 	_pub_sub_graph.translate(
 			node,
-			[](const Graph<NodeDataPubSub>::MessageNodePtr& node) {
+			[this](const Graph<NodeDataPubSub>::MessageNodePtr& node) {
 				if (node->data().publication != nullptr) {
-					rcl_publish(node->data().publication->get_publisher_handle().get(),
+					const auto ret = rcl_publish(node->data().publication->get_publisher_handle().get(),
 								node->buffer().get(), nullptr);
+					if (ret != RCL_RET_OK) {
+						RCLCPP_WARN_ONCE(_node.get_logger(), "Failed to publish on topic '%s', version: %i",
+										node->data().topic_name.c_str(), node->data().version);
+					}
 				}
 			});
 
diff --git a/translation_node/src/vehicle_attitude_v2.h b/translation_node/src/vehicle_attitude_v2.h
index 6dc859c..0f80253 100644
--- a/translation_node/src/vehicle_attitude_v2.h
+++ b/translation_node/src/vehicle_attitude_v2.h
@@ -24,11 +24,17 @@ class VehicleAttitudeV2Translation {
 	static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
 		// No change in message definition
 		static_assert(sizeof(msg_newer) == sizeof(msg_older));
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wclass-memaccess"
 		memcpy(&msg_newer, &msg_older, sizeof(msg_newer));
+#pragma GCC diagnostic pop
 	}
 
 	static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wclass-memaccess"
 		memcpy(&msg_older, &msg_newer, sizeof(msg_newer));
+#pragma GCC diagnostic pop
 	}
 
 private: