diff --git a/ur_robot_driver/CMakeLists.txt b/ur_robot_driver/CMakeLists.txt
index e20817320..43aca3bd4 100644
--- a/ur_robot_driver/CMakeLists.txt
+++ b/ur_robot_driver/CMakeLists.txt
@@ -74,6 +74,10 @@ endif()
 add_compile_options(-Wall)
 add_compile_options(-Wextra)
 add_compile_options(-Wno-unused-parameter)
+add_compile_options(-fsanitize=thread)
+add_compile_options(-fno-omit-frame-pointer)
+add_compile_options(-O2)
+add_compile_options(-g)
 
 
 include_directories(
@@ -86,34 +90,34 @@ add_library(ur_robot_driver_plugin
   src/dashboard_client_ros.cpp
   src/hardware_interface.cpp
 )
-target_link_libraries(ur_robot_driver_plugin ur_client_library::urcl ${catkin_LIBRARIES})
+target_link_libraries(ur_robot_driver_plugin ur_client_library::urcl ${catkin_LIBRARIES} tsan)
 add_dependencies(ur_robot_driver_plugin ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 add_library(urcl_log_handler
   src/urcl_log_handler.cpp
 )
-target_link_libraries(urcl_log_handler ${catkin_LIBRARIES} ur_client_library::urcl)
+target_link_libraries(urcl_log_handler ${catkin_LIBRARIES} ur_client_library::urcl tsan)
 
 add_executable(ur_robot_driver_node
   src/dashboard_client_ros.cpp
   src/hardware_interface.cpp
   src/hardware_interface_node.cpp
 )
-target_link_libraries(ur_robot_driver_node ${catkin_LIBRARIES} ur_client_library::urcl urcl_log_handler)
+target_link_libraries(ur_robot_driver_node ${catkin_LIBRARIES} ur_client_library::urcl urcl_log_handler tsan)
 add_dependencies(ur_robot_driver_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 add_executable(dashboard_client
   src/dashboard_client_ros.cpp
   src/dashboard_client_node.cpp
 )
-target_link_libraries(dashboard_client ${catkin_LIBRARIES} ur_client_library::urcl urcl_log_handler)
+target_link_libraries(dashboard_client ${catkin_LIBRARIES} ur_client_library::urcl urcl_log_handler tsan)
 add_dependencies(dashboard_client ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 add_executable(robot_state_helper
   src/robot_state_helper.cpp
   src/robot_state_helper_node.cpp
 )
-target_link_libraries(robot_state_helper ${catkin_LIBRARIES} ur_client_library::urcl)
+target_link_libraries(robot_state_helper ${catkin_LIBRARIES} ur_client_library::urcl tsan)
 add_dependencies(robot_state_helper ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 if(CATKIN_ENABLE_TESTING)