diff --git a/.github/workflows/build_and_test.yml b/.github/workflows/build_and_test.yml
index 919f47ad..620b53ee 100644
--- a/.github/workflows/build_and_test.yml
+++ b/.github/workflows/build_and_test.yml
@@ -4,7 +4,28 @@ on: [push]
 
 jobs:
   build_and_test:
-    runs-on: ubuntu-20.04
+    strategy:
+      fail-fast: false
+      matrix:
+        rosdistro: [rolling]
+        os: [ubuntu-20.04]
+        java_version: [6, default]
+        include:
+          - java_version: 6
+            colcon_defaults: |
+              {
+                "build": {
+                  "cmake-args": [
+                      "-DCMAKE_JAVA_COMPILE_FLAGS=-source;1.6;-target;1.6;-Xlint:-options",
+                      "--no-warn-unused-cli"
+                  ]
+                }
+              }
+          - java_version: default
+            colcon_defaults: |
+              {
+              }
+    runs-on: ${{matrix.os}}
     steps:
     - name: Install Java
       run: |
@@ -13,13 +34,13 @@ jobs:
     - uses: actions/checkout@v2
     - uses: ros-tooling/setup-ros@v0.2
       with:
-        required-ros-distributions: rolling
+        required-ros-distributions: ${{matrix.rosdistro}}
     - uses: ros-tooling/action-ros-ci@master
       with:
         package-name: rosidl_generator_java rcljava_common rcljava
-        target-ros2-distro: rolling
+        target-ros2-distro: ${{matrix.rosdistro}}
         vcs-repo-file-url: ${{ github.workspace }}/ros2_java_desktop.repos
-
+        colcon-defaults: ${{matrix.colcon_defaults}}
 #   build_android:
 #     runs-on: ubuntu-18.04
 #     steps:
diff --git a/rcljava/CMakeLists.txt b/rcljava/CMakeLists.txt
index 85cba623..7c1115bc 100644
--- a/rcljava/CMakeLists.txt
+++ b/rcljava/CMakeLists.txt
@@ -38,8 +38,6 @@ if(NOT WIN32)
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-set(CMAKE_JAVA_COMPILE_FLAGS "-source" "1.6" "-target" "1.6")
-
 include_directories(include)
 
 function(set_properties _target_name _build_type)
diff --git a/rcljava_common/CMakeLists.txt b/rcljava_common/CMakeLists.txt
index 228f24ea..a85f0df3 100644
--- a/rcljava_common/CMakeLists.txt
+++ b/rcljava_common/CMakeLists.txt
@@ -31,8 +31,6 @@ if(NOT WIN32)
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-set(CMAKE_JAVA_COMPILE_FLAGS "-source" "1.6" "-target" "1.6")
-
 set(${PROJECT_NAME}_java_sources
   "src/main/java/org/ros2/rcljava/common/JNIUtils.java"
   "src/main/java/org/ros2/rcljava/exceptions/RCLException.java"