diff --git a/controller_interface/CMakeLists.txt b/controller_interface/CMakeLists.txt
index 19a501dc62..917da0a8c9 100644
--- a/controller_interface/CMakeLists.txt
+++ b/controller_interface/CMakeLists.txt
@@ -2,7 +2,8 @@ cmake_minimum_required(VERSION 3.16)
 project(controller_interface LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow)
+  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow
+          -Werror=missing-braces)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
diff --git a/controller_interface/test/test_force_torque_sensor.hpp b/controller_interface/test/test_force_torque_sensor.hpp
index 2d61f665c3..b26517a90c 100644
--- a/controller_interface/test/test_force_torque_sensor.hpp
+++ b/controller_interface/test/test_force_torque_sensor.hpp
@@ -68,13 +68,13 @@ class ForceTorqueSensorTest : public ::testing::Test
 protected:
   const size_t size_ = 6;
   const std::string sensor_name_ = "test_FTS";
-  std::array<double, 3> force_values_ = {1.1, 2.2, 3.3};
-  std::array<double, 3> torque_values_ = {4.4, 5.5, 6.6};
+  std::array<double, 3> force_values_ = {{1.1, 2.2, 3.3}};
+  std::array<double, 3> torque_values_ = {{4.4, 5.5, 6.6}};
   std::unique_ptr<TestableForceTorqueSensor> force_torque_sensor_;
 
   std::vector<std::string> full_interface_names_;
-  const std::vector<std::string> fts_interface_names_ = {"force.x",  "force.y",  "force.z",
-                                                         "torque.x", "torque.y", "torque.z"};
+  const std::vector<std::string> fts_interface_names_ = {
+    {"force.x", "force.y", "force.z", "torque.x", "torque.y", "torque.z"}};
 };
 
 #endif  // TEST_FORCE_TORQUE_SENSOR_HPP_
diff --git a/controller_interface/test/test_imu_sensor.hpp b/controller_interface/test/test_imu_sensor.hpp
index 9d0a39e7e5..801a425546 100644
--- a/controller_interface/test/test_imu_sensor.hpp
+++ b/controller_interface/test/test_imu_sensor.hpp
@@ -56,9 +56,9 @@ class IMUSensorTest : public ::testing::Test
 protected:
   const size_t size_ = 10;
   const std::string sensor_name_ = "test_IMU";
-  std::array<double, 4> orientation_values_ = {1.1, 2.2, 3.3, 4.4};
-  std::array<double, 3> angular_velocity_values_ = {4.4, 5.5, 6.6};
-  std::array<double, 3> linear_acceleration_values_ = {4.4, 5.5, 6.6};
+  std::array<double, 4> orientation_values_ = {{1.1, 2.2, 3.3, 4.4}};
+  std::array<double, 3> angular_velocity_values_ = {{4.4, 5.5, 6.6}};
+  std::array<double, 3> linear_acceleration_values_ = {{4.4, 5.5, 6.6}};
   std::unique_ptr<TestableIMUSensor> imu_sensor_;
 
   std::vector<std::string> full_interface_names_;
diff --git a/controller_manager/CMakeLists.txt b/controller_manager/CMakeLists.txt
index 376cef3362..1d6c76b5d5 100644
--- a/controller_manager/CMakeLists.txt
+++ b/controller_manager/CMakeLists.txt
@@ -2,7 +2,8 @@ cmake_minimum_required(VERSION 3.16)
 project(controller_manager LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow)
+  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow
+          -Werror=missing-braces)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
diff --git a/hardware_interface/CMakeLists.txt b/hardware_interface/CMakeLists.txt
index 2613ba735a..94eaa6a050 100644
--- a/hardware_interface/CMakeLists.txt
+++ b/hardware_interface/CMakeLists.txt
@@ -2,7 +2,8 @@ cmake_minimum_required(VERSION 3.16)
 project(hardware_interface LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow)
+  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow
+          -Werror=missing-braces)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
diff --git a/hardware_interface/test/test_component_interfaces.cpp b/hardware_interface/test/test_component_interfaces.cpp
index d90756c324..6dc1c394b0 100644
--- a/hardware_interface/test/test_component_interfaces.cpp
+++ b/hardware_interface/test/test_component_interfaces.cpp
@@ -341,12 +341,12 @@ class DummySystem : public hardware_interface::SystemInterface
 
 private:
   std::array<double, 3> position_state_ = {
-    std::numeric_limits<double>::quiet_NaN(), std::numeric_limits<double>::quiet_NaN(),
-    std::numeric_limits<double>::quiet_NaN()};
+    {std::numeric_limits<double>::quiet_NaN(), std::numeric_limits<double>::quiet_NaN(),
+     std::numeric_limits<double>::quiet_NaN()}};
   std::array<double, 3> velocity_state_ = {
-    std::numeric_limits<double>::quiet_NaN(), std::numeric_limits<double>::quiet_NaN(),
-    std::numeric_limits<double>::quiet_NaN()};
-  std::array<double, 3> velocity_command_ = {0.0, 0.0, 0.0};
+    {std::numeric_limits<double>::quiet_NaN(), std::numeric_limits<double>::quiet_NaN(),
+     std::numeric_limits<double>::quiet_NaN()}};
+  std::array<double, 3> velocity_command_ = {{0.0, 0.0, 0.0}};
 
   // Helper variables to initiate error on read
   unsigned int read_calls_ = 0;
diff --git a/hardware_interface/test/test_hardware_components/test_system_with_command_modes.cpp b/hardware_interface/test/test_hardware_components/test_system_with_command_modes.cpp
index a594d3b70a..aba2f86fe5 100644
--- a/hardware_interface/test/test_hardware_components/test_system_with_command_modes.cpp
+++ b/hardware_interface/test/test_hardware_components/test_system_with_command_modes.cpp
@@ -184,11 +184,11 @@ class TestSystemCommandModes : public hardware_interface::SystemInterface
   std::vector<std::string> start_modes_ = {"position", "position"};
   std::vector<bool> stop_modes_ = {false, false};
 
-  std::array<double, 2> position_command_ = {0.0, 0.0};
-  std::array<double, 2> velocity_command_ = {0.0, 0.0};
-  std::array<double, 2> position_state_ = {0.0, 0.0};
-  std::array<double, 2> velocity_state_ = {0.0, 0.0};
-  std::array<double, 2> acceleration_state_ = {0.0, 0.0};
+  std::array<double, 2> position_command_ = {{0.0, 0.0}};
+  std::array<double, 2> velocity_command_ = {{0.0, 0.0}};
+  std::array<double, 2> position_state_ = {{0.0, 0.0}};
+  std::array<double, 2> velocity_state_ = {{0.0, 0.0}};
+  std::array<double, 2> acceleration_state_ = {{0.0, 0.0}};
 };
 
 }  // namespace test_hardware_components
diff --git a/hardware_interface/test/test_hardware_components/test_two_joint_system.cpp b/hardware_interface/test/test_hardware_components/test_two_joint_system.cpp
index b597804104..fe06a64223 100644
--- a/hardware_interface/test/test_hardware_components/test_two_joint_system.cpp
+++ b/hardware_interface/test/test_hardware_components/test_two_joint_system.cpp
@@ -103,8 +103,8 @@ class TestTwoJointSystem : public SystemInterface
   }
 
 private:
-  std::array<double, 2> position_command_ = {0.0, 0.0};
-  std::array<double, 2> position_state_ = {0.0, 0.0};
+  std::array<double, 2> position_command_ = {{0.0, 0.0}};
+  std::array<double, 2> position_state_ = {{0.0, 0.0}};
 };
 
 }  // namespace test_hardware_components
diff --git a/hardware_interface_testing/CMakeLists.txt b/hardware_interface_testing/CMakeLists.txt
index 8e88a677bf..cd8e30028a 100644
--- a/hardware_interface_testing/CMakeLists.txt
+++ b/hardware_interface_testing/CMakeLists.txt
@@ -2,7 +2,8 @@ cmake_minimum_required(VERSION 3.16)
 project(hardware_interface_testing LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow)
+  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow
+          -Werror=missing-braces)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
diff --git a/hardware_interface_testing/test/test_components/test_system.cpp b/hardware_interface_testing/test/test_components/test_system.cpp
index bc7a75df6f..6eed347299 100644
--- a/hardware_interface_testing/test/test_components/test_system.cpp
+++ b/hardware_interface_testing/test/test_components/test_system.cpp
@@ -114,10 +114,10 @@ class TestSystem : public SystemInterface
   }
 
 private:
-  std::array<double, 2> velocity_command_ = {0.0, 0.0};
-  std::array<double, 2> position_state_ = {0.0, 0.0};
-  std::array<double, 2> velocity_state_ = {0.0, 0.0};
-  std::array<double, 2> acceleration_state_ = {0.0, 0.0};
+  std::array<double, 2> velocity_command_ = {{0.0, 0.0}};
+  std::array<double, 2> position_state_ = {{0.0, 0.0}};
+  std::array<double, 2> velocity_state_ = {{0.0, 0.0}};
+  std::array<double, 2> acceleration_state_ = {{0.0, 0.0}};
   double max_acceleration_command_ = 0.0;
   double configuration_state_ = 0.0;
   double configuration_command_ = 0.0;
diff --git a/joint_limits/CMakeLists.txt b/joint_limits/CMakeLists.txt
index 1ed74c7603..f0ad3de6fc 100644
--- a/joint_limits/CMakeLists.txt
+++ b/joint_limits/CMakeLists.txt
@@ -2,7 +2,8 @@ cmake_minimum_required(VERSION 3.16)
 project(joint_limits LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow)
+  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow
+          -Werror=missing-braces)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
diff --git a/transmission_interface/CMakeLists.txt b/transmission_interface/CMakeLists.txt
index efd8db1652..fc55c483d0 100644
--- a/transmission_interface/CMakeLists.txt
+++ b/transmission_interface/CMakeLists.txt
@@ -2,7 +2,8 @@ cmake_minimum_required(VERSION 3.16)
 project(transmission_interface LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow)
+  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow
+          -Werror=missing-braces)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS