diff --git a/.circleci/config.yml b/.circleci/config.yml
index ec6a46b682..a761ae6c1b 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -120,7 +120,12 @@ references:
                       rm -rf build install log
                       colcon build \
                         --symlink-install \
-                        --mixin << parameters.mixins >>
+                        --mixin << parameters.mixins >> \
+                        --cmake-args \
+                          --no-warn-unused-cli \
+                          -DCMAKE_CXX_FLAGS=" \
+                            -Wno-error=deprecated-declarations \
+                          "
                       rm -f build_failed
                     fi
               - save_to_cache:
diff --git a/Dockerfile b/Dockerfile
index 4186488520..414907e6ba 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -105,6 +105,11 @@ RUN . $UNDERLAY_WS/install/setup.sh && \
     colcon build \
       --symlink-install \
       --mixin $OVERLAY_MIXINS \
+      --cmake-args \
+        --no-warn-unused-cli \
+        -DCMAKE_CXX_FLAGS=" \
+          -Wno-error=deprecated-declarations \
+        " \
     || touch build_failed && \
     if [ -f build_failed ] && [ -n "$FAIL_ON_BUILD_FAILURE" ]; then \
       exit 1; \
diff --git a/tools/ros2_dependencies.repos b/tools/ros2_dependencies.repos
index df9e1a177a..6d88c544c3 100644
--- a/tools/ros2_dependencies.repos
+++ b/tools/ros2_dependencies.repos
@@ -2,7 +2,7 @@ repositories:
   BehaviorTree/BehaviorTree.CPP:
     type: git
     url: https://github.com/BehaviorTree/BehaviorTree.CPP.git
-    version: master
+    version: ros2-3.1.1
   ros/angles:
     type: git
     url: https://github.com/ros/angles.git