diff --git a/rclcpp/CMakeLists.txt b/rclcpp/CMakeLists.txt
index 46eab20..49c02dc 100644
--- a/rclcpp/CMakeLists.txt
+++ b/rclcpp/CMakeLists.txt
@@ -11,9 +11,10 @@ find_package(rosidl_generator_cpp REQUIRED)
 find_package(rosidl_typesupport_c REQUIRED)
 find_package(rosidl_typesupport_cpp REQUIRED)
 
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+if(WIN32)
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
+else()
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -Wall -Wextra -Wpedantic")
 endif()
 
 include_directories(include)
diff --git a/rclcpp_lifecycle/CMakeLists.txt b/rclcpp_lifecycle/CMakeLists.txt
index 234d5ff..07fa076 100644
--- a/rclcpp_lifecycle/CMakeLists.txt
+++ b/rclcpp_lifecycle/CMakeLists.txt
@@ -2,9 +2,10 @@ cmake_minimum_required(VERSION 3.5)
 
 project(rclcpp_lifecycle)
 
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+if(WIN32)
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
+else()
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -Wall -Wextra -Wpedantic")
 endif()
 
 find_package(ament_cmake REQUIRED)
diff --git a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
index 586dbe4..039b5d7 100644
--- a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
+++ b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
@@ -356,7 +356,7 @@ public:
 
   RCLCPP_LIFECYCLE_PUBLIC
   const State &
-  trigger_transition(unsigned int transition_id);
+  trigger_transition(uint8_t transition_id);
 
   RCLCPP_LIFECYCLE_PUBLIC
   bool
diff --git a/rclcpp_lifecycle/include/rclcpp_lifecycle/state.hpp b/rclcpp_lifecycle/include/rclcpp_lifecycle/state.hpp
index 3b2d3e2..2d153b6 100644
--- a/rclcpp_lifecycle/include/rclcpp_lifecycle/state.hpp
+++ b/rclcpp_lifecycle/include/rclcpp_lifecycle/state.hpp
@@ -32,7 +32,7 @@ public:
   State();
 
   RCLCPP_LIFECYCLE_PUBLIC
-  State(unsigned int id, const std::string & label);
+  State(uint8_t id, const std::string & label);
 
   RCLCPP_LIFECYCLE_PUBLIC
   explicit State(const rcl_lifecycle_state_t * rcl_lifecycle_state_handle);
@@ -41,7 +41,7 @@ public:
   virtual ~State();
 
   RCLCPP_LIFECYCLE_PUBLIC
-  unsigned int
+  uint8_t
   id() const;
 
   RCLCPP_LIFECYCLE_PUBLIC
diff --git a/rclcpp_lifecycle/include/rclcpp_lifecycle/transition.hpp b/rclcpp_lifecycle/include/rclcpp_lifecycle/transition.hpp
index 35bb296..529a8fb 100644
--- a/rclcpp_lifecycle/include/rclcpp_lifecycle/transition.hpp
+++ b/rclcpp_lifecycle/include/rclcpp_lifecycle/transition.hpp
@@ -33,11 +33,11 @@ public:
   Transition() = delete;
 
   RCLCPP_LIFECYCLE_PUBLIC
-  explicit Transition(unsigned int id, const std::string & label = "");
+  explicit Transition(uint8_t id, const std::string & label = "");
 
   RCLCPP_LIFECYCLE_PUBLIC
   Transition(
-    unsigned int id, const std::string & label,
+    uint8_t id, const std::string & label,
     State && start, State && goal);
 
   RCLCPP_LIFECYCLE_PUBLIC
@@ -47,7 +47,7 @@ public:
   virtual ~Transition();
 
   RCLCPP_LIFECYCLE_PUBLIC
-  unsigned int
+  uint8_t
   id() const;
 
   RCLCPP_LIFECYCLE_PUBLIC
diff --git a/rclcpp_lifecycle/src/lifecycle_node.cpp b/rclcpp_lifecycle/src/lifecycle_node.cpp
index 1998c6d..c20477f 100644
--- a/rclcpp_lifecycle/src/lifecycle_node.cpp
+++ b/rclcpp_lifecycle/src/lifecycle_node.cpp
@@ -289,7 +289,7 @@ LifecycleNode::trigger_transition(const Transition & transition)
 }
 
 const State &
-LifecycleNode::trigger_transition(unsigned int transition_id)
+LifecycleNode::trigger_transition(uint8_t transition_id)
 {
   return impl_->trigger_transition(transition_id);
 }
diff --git a/rclcpp_lifecycle/src/lifecycle_node_interface_impl.hpp b/rclcpp_lifecycle/src/lifecycle_node_interface_impl.hpp
index ae718e5..4daac48 100644
--- a/rclcpp_lifecycle/src/lifecycle_node_interface_impl.hpp
+++ b/rclcpp_lifecycle/src/lifecycle_node_interface_impl.hpp
@@ -202,7 +202,7 @@ public:
       throw std::runtime_error(
               "Can't get available states. State machine is not initialized.");
     }
-    for (unsigned int i = 0; i < state_machine_.transition_map.states_size; ++i) {
+    for (uint8_t i = 0; i < state_machine_.transition_map.states_size; ++i) {
       lifecycle_msgs::msg::State state;
       state.id = static_cast<uint8_t>(state_machine_.transition_map.states[i].id);
       state.label = static_cast<std::string>(state_machine_.transition_map.states[i].label);
@@ -223,7 +223,7 @@ public:
       return;
     }
 
-    for (unsigned int i = 0; i < state_machine_.transition_map.transitions_size; ++i) {
+    for (uint8_t i = 0; i < state_machine_.transition_map.transitions_size; ++i) {
       rcl_lifecycle_transition_t & rcl_transition = state_machine_.transition_map.transitions[i];
       lifecycle_msgs::msg::TransitionDescription trans_desc;
       trans_desc.transition.id = rcl_transition.id;
@@ -247,7 +247,7 @@ public:
   get_available_states()
   {
     std::vector<State> states;
-    for (unsigned int i = 0; i < state_machine_.transition_map.states_size; ++i) {
+    for (uint8_t i = 0; i < state_machine_.transition_map.states_size; ++i) {
       State state(&state_machine_.transition_map.states[i]);
       states.push_back(state);
     }
@@ -259,7 +259,7 @@ public:
   {
     std::vector<Transition> transitions;
 
-    for (unsigned int i = 0; i < state_machine_.transition_map.transitions_size; ++i) {
+    for (uint8_t i = 0; i < state_machine_.transition_map.transitions_size; ++i) {
       Transition transition(
         &state_machine_.transition_map.transitions[i]);
       transitions.push_back(transition);
@@ -279,7 +279,7 @@ public:
     // keep the initial state to pass to a transition callback
     State initial_state(state_machine_.current_state);
 
-    unsigned int transition_id = static_cast<unsigned int>(lifecycle_transition);
+    uint8_t transition_id = lifecycle_transition;
     if (rcl_lifecycle_trigger_transition(&state_machine_, transition_id, true) != RCL_RET_OK) {
       fprintf(stderr, "%s:%d, Unable to start transition %u from current state %s: %s\n",
         __FILE__, __LINE__, transition_id,
@@ -348,7 +348,7 @@ public:
   }
 
   const State &
-  trigger_transition(unsigned int transition_id)
+  trigger_transition(uint8_t transition_id)
   {
     change_state(transition_id);
     return get_current_state();
diff --git a/rclcpp_lifecycle/src/state.cpp b/rclcpp_lifecycle/src/state.cpp
index 40f8dd9..fae2856 100644
--- a/rclcpp_lifecycle/src/state.cpp
+++ b/rclcpp_lifecycle/src/state.cpp
@@ -26,7 +26,7 @@ State::State()
 : State(lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN, "unknown")
 {}
 
-State::State(unsigned int id, const std::string & label)
+State::State(uint8_t id, const std::string & label)
 : owns_rcl_state_handle_(true)
 {
   if (label.empty()) {
@@ -53,7 +53,7 @@ State::~State()
   }
 }
 
-unsigned int
+uint8_t
 State::id() const
 {
   return state_handle_->id;
diff --git a/rclcpp_lifecycle/src/transition.cpp b/rclcpp_lifecycle/src/transition.cpp
index 6bf7434..7fff732 100644
--- a/rclcpp_lifecycle/src/transition.cpp
+++ b/rclcpp_lifecycle/src/transition.cpp
@@ -22,7 +22,7 @@
 namespace rclcpp_lifecycle
 {
 
-Transition::Transition(unsigned int id, const std::string & label)
+Transition::Transition(uint8_t id, const std::string & label)
 : owns_rcl_transition_handle_(true)
 {
   auto transition_handle = new rcl_lifecycle_transition_t;
@@ -35,7 +35,7 @@ Transition::Transition(unsigned int id, const std::string & label)
 }
 
 Transition::Transition(
-  unsigned int id, const std::string & label,
+  uint8_t id, const std::string & label,
   State && start, State && goal)
 : owns_rcl_transition_handle_(true)
 {
@@ -75,7 +75,7 @@ Transition::~Transition()
   }
 }
 
-unsigned int
+uint8_t
 Transition::id() const
 {
   return transition_handle_->id;
diff --git a/rclcpp_lifecycle/test/test_state_machine_info.cpp b/rclcpp_lifecycle/test/test_state_machine_info.cpp
index caf5e87..b14441e 100644
--- a/rclcpp_lifecycle/test/test_state_machine_info.cpp
+++ b/rclcpp_lifecycle/test/test_state_machine_info.cpp
@@ -34,40 +34,40 @@ TEST_F(TestStateMachineInfo, available_states) {
   auto test_node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("testnode");
   std::vector<rclcpp_lifecycle::State> available_states =
     test_node->get_available_states();
-  EXPECT_EQ((unsigned int)11, available_states.size());
+  EXPECT_EQ(11u, available_states.size());
 
   // Primary States
-  EXPECT_EQ((unsigned int)0, available_states[0].id());  // unknown
-  EXPECT_EQ((unsigned int)1, available_states[1].id());  // unconfigured
-  EXPECT_EQ((unsigned int)2, available_states[2].id());  // inactive
-  EXPECT_EQ((unsigned int)3, available_states[3].id());  // active
-  EXPECT_EQ((unsigned int)4, available_states[4].id());  // finalized
+  EXPECT_EQ(0, available_states[0].id());  // unknown
+  EXPECT_EQ(1, available_states[1].id());  // unconfigured
+  EXPECT_EQ(2, available_states[2].id());  // inactive
+  EXPECT_EQ(3, available_states[3].id());  // active
+  EXPECT_EQ(4, available_states[4].id());  // finalized
 
   // Transition States
-  EXPECT_EQ((unsigned int)10, available_states[5].id());  // configuring
-  EXPECT_EQ((unsigned int)11, available_states[6].id());  // cleaningup
-  EXPECT_EQ((unsigned int)12, available_states[7].id());  // shuttingdown
-  EXPECT_EQ((unsigned int)13, available_states[8].id());  // activating
-  EXPECT_EQ((unsigned int)14, available_states[9].id());  // deactivating
-  EXPECT_EQ((unsigned int)15, available_states[10].id());  // errorprocessing
+  EXPECT_EQ(10, available_states[5].id());  // configuring
+  EXPECT_EQ(11, available_states[6].id());  // cleaningup
+  EXPECT_EQ(12, available_states[7].id());  // shuttingdown
+  EXPECT_EQ(13, available_states[8].id());  // activating
+  EXPECT_EQ(14, available_states[9].id());  // deactivating
+  EXPECT_EQ(15, available_states[10].id());  // errorprocessing
 }
 
 TEST_F(TestStateMachineInfo, available_transitions) {
   auto test_node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("testnode");
   std::vector<rclcpp_lifecycle::Transition> available_transitions =
     test_node->get_available_transitions();
-  EXPECT_EQ((unsigned int)25, available_transitions.size());
+  EXPECT_EQ(25u, available_transitions.size());
   for (rclcpp_lifecycle::Transition & transition : available_transitions) {
     EXPECT_FALSE(transition.label().empty());
 
-    EXPECT_TRUE(transition.start_state().id() <= (unsigned int)4 ||
-      (transition.start_state().id() >= (unsigned int)10 &&
-      (transition.start_state().id() <= (unsigned int)15)));
+    EXPECT_TRUE(transition.start_state().id() <= 4 ||
+      (transition.start_state().id() >= 10 &&
+      (transition.start_state().id() <= 15)));
     EXPECT_FALSE(transition.start_state().label().empty());
 
-    EXPECT_TRUE(transition.goal_state().id() <= (unsigned int)4 ||
-      (transition.goal_state().id() >= (unsigned int)10 &&
-      (transition.goal_state().id() <= (unsigned int)15)));
+    EXPECT_TRUE(transition.goal_state().id() <= 4 ||
+      (transition.goal_state().id() >= 10 &&
+      (transition.goal_state().id() <= 15)));
     EXPECT_FALSE(transition.goal_state().label().empty());
   }
 }