diff --git a/rclcpp/include/rclcpp/client.hpp b/rclcpp/include/rclcpp/client.hpp
index 7bf39215f4..c41963fe99 100644
--- a/rclcpp/include/rclcpp/client.hpp
+++ b/rclcpp/include/rclcpp/client.hpp
@@ -138,7 +138,7 @@ class Client : public ClientBase
   SharedFuture async_send_request(
     typename ServiceT::Request::SharedPtr & request)
   {
-    return async_send_request(request, [](SharedFuture f) {});
+    return async_send_request(request, [](SharedFuture) {});
   }
 
   SharedFuture async_send_request(
diff --git a/rclcpp/include/rclcpp/memory_strategy.hpp b/rclcpp/include/rclcpp/memory_strategy.hpp
index 6d81bcee57..fa5e26d234 100644
--- a/rclcpp/include/rclcpp/memory_strategy.hpp
+++ b/rclcpp/include/rclcpp/memory_strategy.hpp
@@ -39,11 +39,13 @@ class MemoryStrategy
   RCLCPP_MAKE_SHARED_DEFINITIONS(MemoryStrategy);
   virtual void ** borrow_handles(HandleType type, size_t number_of_handles)
   {
+    (void)type;
     return static_cast<void **>(alloc(sizeof(void *) * number_of_handles));
   }
 
   virtual void return_handles(HandleType type, void ** handles)
   {
+    (void)type;
     this->free(handles);
   }
 
diff --git a/rclcpp/include/rclcpp/parameter_service.hpp b/rclcpp/include/rclcpp/parameter_service.hpp
index 66b1859d24..9bae3eca24 100644
--- a/rclcpp/include/rclcpp/parameter_service.hpp
+++ b/rclcpp/include/rclcpp/parameter_service.hpp
@@ -48,7 +48,7 @@ class ParameterService
   {
     get_parameters_service_ = node_->create_service<rcl_interfaces::srv::GetParameters>(
       node_->get_name() + "__get_parameters", [&node](
-        const std::shared_ptr<rmw_request_id_t> request_header,
+        const std::shared_ptr<rmw_request_id_t>,
         const std::shared_ptr<rcl_interfaces::srv::GetParameters::Request> request,
         std::shared_ptr<rcl_interfaces::srv::GetParameters::Response> response)
         {
@@ -63,7 +63,7 @@ class ParameterService
 
     get_parameter_types_service_ = node_->create_service<rcl_interfaces::srv::GetParameterTypes>(
       node_->get_name() + "__get_parameter_types", [&node](
-        const std::shared_ptr<rmw_request_id_t> request_header,
+        const std::shared_ptr<rmw_request_id_t>,
         const std::shared_ptr<rcl_interfaces::srv::GetParameterTypes::Request> request,
         std::shared_ptr<rcl_interfaces::srv::GetParameterTypes::Response> response)
         {
@@ -77,7 +77,7 @@ class ParameterService
 
     set_parameters_service_ = node_->create_service<rcl_interfaces::srv::SetParameters>(
       node_->get_name() + "__set_parameters", [&node](
-        const std::shared_ptr<rmw_request_id_t> request_header,
+        const std::shared_ptr<rmw_request_id_t>,
         const std::shared_ptr<rcl_interfaces::srv::SetParameters::Request> request,
         std::shared_ptr<rcl_interfaces::srv::SetParameters::Response> response)
         {
@@ -96,7 +96,7 @@ class ParameterService
     set_parameters_atomically_service_ =
       node_->create_service<rcl_interfaces::srv::SetParametersAtomically>(
       node_->get_name() + "__set_parameters_atomically", [&node](
-        const std::shared_ptr<rmw_request_id_t> request_header,
+        const std::shared_ptr<rmw_request_id_t>,
         const std::shared_ptr<rcl_interfaces::srv::SetParametersAtomically::Request> request,
         std::shared_ptr<rcl_interfaces::srv::SetParametersAtomically::Response> response)
         {
@@ -114,7 +114,7 @@ class ParameterService
 
     describe_parameters_service_ = node_->create_service<rcl_interfaces::srv::DescribeParameters>(
       node_->get_name() + "__describe_parameters", [&node](
-        const std::shared_ptr<rmw_request_id_t> request_header,
+        const std::shared_ptr<rmw_request_id_t>,
         const std::shared_ptr<rcl_interfaces::srv::DescribeParameters::Request> request,
         std::shared_ptr<rcl_interfaces::srv::DescribeParameters::Response> response)
         {
@@ -125,7 +125,7 @@ class ParameterService
 
     list_parameters_service_ = node_->create_service<rcl_interfaces::srv::ListParameters>(
       node_->get_name() + "__list_parameters", [&node](
-        const std::shared_ptr<rmw_request_id_t> request_header,
+        const std::shared_ptr<rmw_request_id_t>,
         const std::shared_ptr<rcl_interfaces::srv::ListParameters::Request> request,
         std::shared_ptr<rcl_interfaces::srv::ListParameters::Response> response)
         {
diff --git a/rclcpp/include/rclcpp/strategies/static_memory_strategy.hpp b/rclcpp/include/rclcpp/strategies/static_memory_strategy.hpp
index 627ab1cbf5..93b6dc8d1a 100644
--- a/rclcpp/include/rclcpp/strategies/static_memory_strategy.hpp
+++ b/rclcpp/include/rclcpp/strategies/static_memory_strategy.hpp
@@ -88,6 +88,7 @@ class StaticMemoryStrategy : public memory_strategy::MemoryStrategy
 
   void return_handles(HandleType type, void ** handles)
   {
+    (void)handles;
     switch (type) {
       case HandleType::subscriber_handle:
         memset(subscriber_pool_, 0, max_subscribers_);
diff --git a/rclcpp/include/rclcpp/utilities.hpp b/rclcpp/include/rclcpp/utilities.hpp
index 5968683474..eb6db5c3af 100644
--- a/rclcpp/include/rclcpp/utilities.hpp
+++ b/rclcpp/include/rclcpp/utilities.hpp
@@ -95,6 +95,8 @@ namespace utilities
 void
 init(int argc, char * argv[])
 {
+  (void)argc;
+  (void)argv;
   // TODO(wjwwood): Handle rmw_ret_t's value.
   rmw_init();
 #ifdef HAS_SIGACTION