diff --git a/rclcpp/include/rclcpp/rate.hpp b/rclcpp/include/rclcpp/rate.hpp
index 296cce14a1..55d3bbcb85 100644
--- a/rclcpp/include/rclcpp/rate.hpp
+++ b/rclcpp/include/rclcpp/rate.hpp
@@ -31,6 +31,7 @@ class RateBase
 public:
   RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(RateBase)
 
+  virtual ~RateBase() {}
   virtual bool sleep() = 0;
   virtual bool is_steady() const = 0;
   virtual void reset() = 0;
diff --git a/rclcpp/include/rclcpp/timer.hpp b/rclcpp/include/rclcpp/timer.hpp
index 7fc375dace..66a7529bce 100644
--- a/rclcpp/include/rclcpp/timer.hpp
+++ b/rclcpp/include/rclcpp/timer.hpp
@@ -62,6 +62,7 @@ class TimerBase
 
   /// TimerBase destructor
   RCLCPP_PUBLIC
+  virtual
   ~TimerBase();
 
   /// Cancel the timer.
diff --git a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_publisher.hpp b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_publisher.hpp
index 2f94dc78c0..2a87b34c89 100644
--- a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_publisher.hpp
+++ b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_publisher.hpp
@@ -36,6 +36,7 @@ namespace rclcpp_lifecycle
 class LifecyclePublisherInterface
 {
 public:
+  virtual ~LifecyclePublisherInterface() {};
   virtual void on_activate() = 0;
   virtual void on_deactivate() = 0;
   virtual bool is_activated() = 0;
diff --git a/rclcpp_lifecycle/include/rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp b/rclcpp_lifecycle/include/rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp
index 86ebc22604..9f2459e296 100644
--- a/rclcpp_lifecycle/include/rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp
+++ b/rclcpp_lifecycle/include/rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp
@@ -100,6 +100,10 @@ class LifecycleNodeInterface
   RCLCPP_LIFECYCLE_PUBLIC
   virtual CallbackReturn
   on_error(const State & previous_state);
+
+  RCLCPP_LIFECYCLE_PUBLIC
+  virtual
+  ~LifecycleNodeInterface() {}
 };
 
 }  // namespace node_interfaces