diff --git a/rclcpp_action/CMakeLists.txt b/rclcpp_action/CMakeLists.txt
index 8b1dfe079c..a5b100e5d6 100644
--- a/rclcpp_action/CMakeLists.txt
+++ b/rclcpp_action/CMakeLists.txt
@@ -13,7 +13,10 @@ 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 -Wnon-virtual-dtor -Woverloaded-virtual)
+  add_compile_options(
+    -Wall -Wextra -Wpedantic -Wnon-virtual-dtor -Woverloaded-virtual
+    -Wformat=2 -Wconversion -Wshadow -Wsign-conversion -Wcast-qual
+  )
 endif()
 
 set(${PROJECT_NAME}_SRCS
diff --git a/rclcpp_action/include/rclcpp_action/server.hpp b/rclcpp_action/include/rclcpp_action/server.hpp
index 5827eb9d0d..b3871060cd 100644
--- a/rclcpp_action/include/rclcpp_action/server.hpp
+++ b/rclcpp_action/include/rclcpp_action/server.hpp
@@ -381,31 +381,31 @@ class Server : public ServerBase, public std::enable_shared_from_this<Server<Act
     std::weak_ptr<Server<ActionT>> weak_this = this->shared_from_this();
 
     std::function<void(const GoalUUID &, std::shared_ptr<void>)> on_terminal_state =
-      [weak_this](const GoalUUID & uuid, std::shared_ptr<void> result_message)
+      [weak_this](const GoalUUID & goal_uuid, std::shared_ptr<void> result_message)
       {
         std::shared_ptr<Server<ActionT>> shared_this = weak_this.lock();
         if (!shared_this) {
           return;
         }
         // Send result message to anyone that asked
-        shared_this->publish_result(uuid, result_message);
+        shared_this->publish_result(goal_uuid, result_message);
         // Publish a status message any time a goal handle changes state
         shared_this->publish_status();
         // notify base so it can recalculate the expired goal timer
         shared_this->notify_goal_terminal_state();
         // Delete data now (ServerBase and rcl_action_server_t keep data until goal handle expires)
         std::lock_guard<std::mutex> lock(shared_this->goal_handles_mutex_);
-        shared_this->goal_handles_.erase(uuid);
+        shared_this->goal_handles_.erase(goal_uuid);
       };
 
     std::function<void(const GoalUUID &)> on_executing =
-      [weak_this](const GoalUUID & uuid)
+      [weak_this](const GoalUUID & goal_uuid)
       {
         std::shared_ptr<Server<ActionT>> shared_this = weak_this.lock();
         if (!shared_this) {
           return;
         }
-        (void)uuid;
+        (void)goal_uuid;
         // Publish a status message any time a goal handle changes state
         shared_this->publish_status();
       };
diff --git a/rclcpp_action/src/server.cpp b/rclcpp_action/src/server.cpp
index 8d37303c7d..bcf89a6d96 100644
--- a/rclcpp_action/src/server.cpp
+++ b/rclcpp_action/src/server.cpp
@@ -474,10 +474,10 @@ ServerBase::execute_result_request_received(std::shared_ptr<void> & data)
 
   if (result_response) {
     // Send the result now
-    rcl_ret_t ret = rcl_action_send_result_response(
+    rcl_ret_t rcl_ret = rcl_action_send_result_response(
       pimpl_->action_server_.get(), &request_header, result_response.get());
-    if (RCL_RET_OK != ret) {
-      rclcpp::exceptions::throw_from_rcl_error(ret);
+    if (RCL_RET_OK != rcl_ret) {
+      rclcpp::exceptions::throw_from_rcl_error(rcl_ret);
     }
   } else {
     // Store the request so it can be responded to later
diff --git a/rclcpp_action/test/benchmark/benchmark_action_client.cpp b/rclcpp_action/test/benchmark/benchmark_action_client.cpp
index 8d2482faca..72d221883e 100644
--- a/rclcpp_action/test/benchmark/benchmark_action_client.cpp
+++ b/rclcpp_action/test/benchmark/benchmark_action_client.cpp
@@ -81,7 +81,7 @@ class ActionClientPerformanceTest : public PerformanceTest
 
     // Should be checked by the server above
     assert(goal->order > 0);
-    result->sequence.resize(goal->order);
+    result->sequence.resize(static_cast<size_t>(goal->order));
     result->sequence[0] = 0;
     if (goal->order == 1) {
       current_goal_handle->succeed(result);
@@ -92,7 +92,7 @@ class ActionClientPerformanceTest : public PerformanceTest
       current_goal_handle->succeed(result);
       return;
     }
-    for (int i = 2; i < goal->order; ++i) {
+    for (size_t i = 2; i < static_cast<size_t>(goal->order); ++i) {
       result->sequence[i] =
         result->sequence[i - 1] + result->sequence[i - 2];
     }
@@ -310,8 +310,8 @@ BENCHMARK_F(ActionClientPerformanceTest, async_cancel_goal)(benchmark::State & s
     rclcpp::spin_until_future_complete(node, future_cancel, std::chrono::seconds(1));
     auto cancel_response = future_cancel.get();
 
-    using CancelResponse = test_msgs::action::Fibonacci::Impl::CancelGoalService::Response;
-    if (CancelResponse::ERROR_NONE != cancel_response->return_code) {
+    using CancelActionResponse = test_msgs::action::Fibonacci::Impl::CancelGoalService::Response;
+    if (CancelActionResponse::ERROR_NONE != cancel_response->return_code) {
       state.SkipWithError("Cancel request did not succeed");
       break;
     }
@@ -345,8 +345,8 @@ BENCHMARK_F(ActionClientPerformanceTest, async_cancel_all_goals)(benchmark::Stat
     rclcpp::spin_until_future_complete(node, future_cancel_all, std::chrono::seconds(1));
     auto cancel_response = future_cancel_all.get();
 
-    using CancelResponse = test_msgs::action::Fibonacci::Impl::CancelGoalService::Response;
-    if (CancelResponse::ERROR_NONE != cancel_response->return_code) {
+    using CancelActionResponse = test_msgs::action::Fibonacci::Impl::CancelGoalService::Response;
+    if (CancelActionResponse::ERROR_NONE != cancel_response->return_code) {
       state.SkipWithError("Cancel request did not succeed");
       break;
     }
diff --git a/rclcpp_action/test/benchmark/benchmark_action_server.cpp b/rclcpp_action/test/benchmark/benchmark_action_server.cpp
index 2259a6851f..3ac7fc5812 100644
--- a/rclcpp_action/test/benchmark/benchmark_action_server.cpp
+++ b/rclcpp_action/test/benchmark/benchmark_action_server.cpp
@@ -187,8 +187,8 @@ BENCHMARK_F(ActionServerPerformanceTest, action_server_cancel_goal)(benchmark::S
 
     rclcpp::spin_until_future_complete(node, future_cancel, std::chrono::seconds(1));
     auto cancel_response = future_cancel.get();
-    using CancelResponse = test_msgs::action::Fibonacci::Impl::CancelGoalService::Response;
-    if (CancelResponse::ERROR_NONE != cancel_response->return_code) {
+    using CancelActionResponse = test_msgs::action::Fibonacci::Impl::CancelGoalService::Response;
+    if (CancelActionResponse::ERROR_NONE != cancel_response->return_code) {
       state.SkipWithError("Cancel request did not succeed");
       break;
     }
@@ -247,12 +247,12 @@ BENCHMARK_F(ActionServerPerformanceTest, action_server_set_success)(benchmark::S
   // too wide, they at least could agree it was fine. In my testing MSVC errored if goal_order was
   // not captured, but clang would warn if it was explicitly captured.
   const auto result = [&]() {
-      auto result = std::make_shared<Fibonacci::Result>();
+      auto action_result = std::make_shared<Fibonacci::Result>();
       for (int i = 0; i < goal_order; ++i) {
         // Not the fibonacci sequence, but that's not important to this benchmark
-        result->sequence.push_back(i);
+        action_result->sequence.push_back(i);
       }
-      return result;
+      return action_result;
     } ();
 
   reset_heap_counters();
@@ -291,12 +291,12 @@ BENCHMARK_F(ActionServerPerformanceTest, action_server_abort)(benchmark::State &
 
   // Capturing with & because MSVC and Clang disagree about how to capture goal_order
   const auto result = [&]() {
-      auto result = std::make_shared<Fibonacci::Result>();
+      auto action_result = std::make_shared<Fibonacci::Result>();
       for (int i = 0; i < goal_order; ++i) {
         // Not the fibonacci sequence, but that's not important to this benchmark
-        result->sequence.push_back(i);
+        action_result->sequence.push_back(i);
       }
-      return result;
+      return action_result;
     } ();
 
   reset_heap_counters();
diff --git a/rclcpp_action/test/test_client.cpp b/rclcpp_action/test/test_client.cpp
index 7c55a226ed..42fcb2c17f 100644
--- a/rclcpp_action/test/test_client.cpp
+++ b/rclcpp_action/test/test_client.cpp
@@ -132,7 +132,7 @@ class TestClient : public ::testing::Test
             feedback_message.feedback.sequence.push_back(1);
             feedback_publisher->publish(feedback_message);
             client_executor.spin_once();
-            for (int i = 1; i < goal_request->goal.order; ++i) {
+            for (size_t i = 1; i < static_cast<size_t>(goal_request->goal.order); ++i) {
               feedback_message.feedback.sequence.push_back(
                 feedback_message.feedback.sequence[i] +
                 feedback_message.feedback.sequence[i - 1]);
diff --git a/rclcpp_action/test/test_types.cpp b/rclcpp_action/test/test_types.cpp
index f981261105..7c652aaad6 100644
--- a/rclcpp_action/test/test_types.cpp
+++ b/rclcpp_action/test/test_types.cpp
@@ -25,12 +25,12 @@ TEST(TestActionTypes, goal_uuid_to_string) {
   EXPECT_STREQ("0123456789abcdef", rclcpp_action::to_string(goal_id).c_str());
 
   for (uint8_t i = 0; i < UUID_SIZE; ++i) {
-    goal_id[i] = 16u + i;
+    goal_id[i] = static_cast<uint8_t>(16u + i);
   }
   EXPECT_STREQ("101112131415161718191a1b1c1d1e1f", rclcpp_action::to_string(goal_id).c_str());
 
   for (uint8_t i = 0; i < UUID_SIZE; ++i) {
-    goal_id[i] = std::numeric_limits<uint8_t>::max() - i;
+    goal_id[i] = static_cast<uint8_t>(std::numeric_limits<uint8_t>::max() - i);
   }
   EXPECT_STREQ("fffefdfcfbfaf9f8f7f6f5f4f3f2f1f0", rclcpp_action::to_string(goal_id).c_str());
 }