diff --git a/urdf/CMakeLists.txt b/urdf/CMakeLists.txt
index cb1e0d50..e0c9e186 100644
--- a/urdf/CMakeLists.txt
+++ b/urdf/CMakeLists.txt
@@ -25,6 +25,9 @@ configure_file(urdfdom_compatibility.h.in "${generated_compat_header}" @ONLY)
 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)
+endif()
 
 install(FILES ${generated_compat_header} DESTINATION include/${PROJECT_NAME})
 
diff --git a/urdf/src/model.cpp b/urdf/src/model.cpp
index 047411aa..ea6c974c 100644
--- a/urdf/src/model.cpp
+++ b/urdf/src/model.cpp
@@ -105,7 +105,7 @@ ModelImplementation::load_plugin(const std::string & plugin_name)
   } catch (const pluginlib::CreateClassException &) {
     fprintf(stderr, "Failed to load urdf_parser_plugin [%s]\n", plugin_name.c_str());
   }
-  return std::move(plugin_instance);
+  return plugin_instance;
 }
 
 bool Model::initString(const std::string & data)