diff --git a/rclcpp/CMakeLists.txt b/rclcpp/CMakeLists.txt
index 171e0f8..4562375 100644
--- a/rclcpp/CMakeLists.txt
+++ b/rclcpp/CMakeLists.txt
@@ -23,7 +23,7 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)
 endif()
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+  add_compile_options(-Wall -Wextra -Wpedantic -Wnon-virtual-dtor -Woverloaded-virtual)
 endif()
 
 set(${PROJECT_NAME}_SRCS
diff --git a/rclcpp/include/rclcpp/rate.hpp b/rclcpp/include/rclcpp/rate.hpp
index 296cce1..55d3bbc 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 7fc375d..66a7529 100644
--- a/rclcpp/include/rclcpp/timer.hpp
+++ b/rclcpp/include/rclcpp/timer.hpp
@@ -62,6 +62,7 @@ public:
 
   /// TimerBase destructor
   RCLCPP_PUBLIC
+  virtual
   ~TimerBase();
 
   /// Cancel the timer.
diff --git a/rclcpp_action/CMakeLists.txt b/rclcpp_action/CMakeLists.txt
index 598f37a..08c4d23 100644
--- a/rclcpp_action/CMakeLists.txt
+++ b/rclcpp_action/CMakeLists.txt
@@ -13,7 +13,7 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)
 endif()
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+  add_compile_options(-Wall -Wextra -Wpedantic -Wnon-virtual-dtor -Woverloaded-virtual)
 endif()
 
 set(${PROJECT_NAME}_SRCS
diff --git a/rclcpp_components/CMakeLists.txt b/rclcpp_components/CMakeLists.txt
index 759e0f3..f438a2b 100644
--- a/rclcpp_components/CMakeLists.txt
+++ b/rclcpp_components/CMakeLists.txt
@@ -7,7 +7,7 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)
 endif()
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+  add_compile_options(-Wall -Wextra -Wpedantic -Wnon-virtual-dtor -Woverloaded-virtual)
 endif()
 
 find_package(ament_cmake_ros REQUIRED)
diff --git a/rclcpp_lifecycle/CMakeLists.txt b/rclcpp_lifecycle/CMakeLists.txt
index 66df83d..953cd0d 100644
--- a/rclcpp_lifecycle/CMakeLists.txt
+++ b/rclcpp_lifecycle/CMakeLists.txt
@@ -7,7 +7,7 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)
 endif()
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+  add_compile_options(-Wall -Wextra -Wpedantic -Wnon-virtual-dtor -Woverloaded-virtual)
 endif()
 
 find_package(ament_cmake_ros REQUIRED)
diff --git a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_publisher.hpp b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_publisher.hpp
index 2f94dc7..fdf9ba1 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 86ebc22..9f2459e 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 @@ public:
   RCLCPP_LIFECYCLE_PUBLIC
   virtual CallbackReturn
   on_error(const State & previous_state);
+
+  RCLCPP_LIFECYCLE_PUBLIC
+  virtual
+  ~LifecycleNodeInterface() {}
 };
 
 }  // namespace node_interfaces