diff --git a/rmw_fastrtps_shared_cpp/CMakeLists.txt b/rmw_fastrtps_shared_cpp/CMakeLists.txt
index e1072c89a..ac20a63d0 100644
--- a/rmw_fastrtps_shared_cpp/CMakeLists.txt
+++ b/rmw_fastrtps_shared_cpp/CMakeLists.txt
@@ -26,7 +26,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wthread-safety -Werror)
+  add_compile_options(-Wthread-safety)
 endif()
 
 if(SECURITY)
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_client_info.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_client_info.hpp
index ec6cefb6b..133ad5acc 100644
--- a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_client_info.hpp
+++ b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_client_info.hpp
@@ -32,7 +32,7 @@
 #include "fastrtps/publisher/Publisher.h"
 #include "fastrtps/publisher/PublisherListener.h"
 
-#include "rcpputils/thread_safety_annotations.h"
+#include "rcpputils/thread_safety_annotations.hpp"
 
 #include "rmw_fastrtps_shared_cpp/TypeSupport.hpp"
 
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_publisher_info.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_publisher_info.hpp
index e6c1f317f..a0e39c83d 100644
--- a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_publisher_info.hpp
+++ b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_publisher_info.hpp
@@ -21,7 +21,7 @@
 #include "fastrtps/publisher/Publisher.h"
 #include "fastrtps/publisher/PublisherListener.h"
 
-#include "rcpputils/thread_safety_annotations.h"
+#include "rcpputils/thread_safety_annotations.hpp"
 #include "rmw/rmw.h"
 
 #include "rmw_fastrtps_shared_cpp/TypeSupport.hpp"
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_service_info.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_service_info.hpp
index f6fe8743c..c54e21cc8 100644
--- a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_service_info.hpp
+++ b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_service_info.hpp
@@ -29,7 +29,7 @@
 #include "fastrtps/subscriber/SubscriberListener.h"
 #include "fastrtps/subscriber/SampleInfo.h"
 
-#include "rcpputils/thread_safety_annotations.h"
+#include "rcpputils/thread_safety_annotations.hpp"
 
 #include "rmw_fastrtps_shared_cpp/TypeSupport.hpp"
 
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp
index 5bdacaa7c..3f9179ab2 100644
--- a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp
+++ b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp
@@ -24,7 +24,7 @@
 #include "fastrtps/subscriber/Subscriber.h"
 #include "fastrtps/subscriber/SubscriberListener.h"
 
-#include "rcpputils/thread_safety_annotations.h"
+#include "rcpputils/thread_safety_annotations.hpp"
 
 #include "rmw_fastrtps_shared_cpp/TypeSupport.hpp"
 
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/topic_cache.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/topic_cache.hpp
index 13af59ce3..c5604ee93 100644
--- a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/topic_cache.hpp
+++ b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/topic_cache.hpp
@@ -28,7 +28,7 @@
 #include "fastrtps/participant/Participant.h"
 #include "fastrtps/rtps/common/Guid.h"
 #include "fastrtps/rtps/common/InstanceHandle.h"
-#include "rcpputils/thread_safety_annotations.h"
+#include "rcpputils/thread_safety_annotations.hpp"
 #include "rcutils/logging_macros.h"
 
 typedef eprosima::fastrtps::rtps::GUID_t GUID_t;
diff --git a/rmw_fastrtps_shared_cpp/src/types/guard_condition.hpp b/rmw_fastrtps_shared_cpp/src/types/guard_condition.hpp
index b72de2e73..ab5076522 100644
--- a/rmw_fastrtps_shared_cpp/src/types/guard_condition.hpp
+++ b/rmw_fastrtps_shared_cpp/src/types/guard_condition.hpp
@@ -22,7 +22,7 @@
 #include <mutex>
 #include <utility>
 
-#include "rcpputils/thread_safety_annotations.h"
+#include "rcpputils/thread_safety_annotations.hpp"
 
 class GuardCondition
 {