diff --git a/localization/vehicle_velocity_converter/CMakeLists.txt b/localization/vehicle_velocity_converter/CMakeLists.txt
index e2c108c244538..b63c8f42be84a 100644
--- a/localization/vehicle_velocity_converter/CMakeLists.txt
+++ b/localization/vehicle_velocity_converter/CMakeLists.txt
@@ -8,8 +8,7 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_EXTENSIONS OFF)
 endif()
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  # add_compile_options(-Wall -Wextra -Wpedantic)
-  add_compile_options(-Wno-unused-parameter)
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
 endif()
 
 # find dependencies
diff --git a/localization/vehicle_velocity_converter/src/vehicle_velocity_converter.cpp b/localization/vehicle_velocity_converter/src/vehicle_velocity_converter.cpp
index 997b98a6bbcf4..d4cc91a2b0ae9 100644
--- a/localization/vehicle_velocity_converter/src/vehicle_velocity_converter.cpp
+++ b/localization/vehicle_velocity_converter/src/vehicle_velocity_converter.cpp
@@ -17,8 +17,7 @@
 VehicleVelocityConverter::VehicleVelocityConverter() : Node("vehicle_velocity_converter")
 {
   // set covariance value for twist with covariance msg
-  declare_parameter("twist_covariance");
-  std::vector<double> covariance = get_parameter("twist_covariance").as_double_array();
+  std::vector<double> covariance = declare_parameter<std::vector<double>>("twist_covariance");
   for (std::size_t i = 0; i < covariance.size(); ++i) {
     twist_covariance_[i] = covariance[i];
   }