diff --git a/beluga/CMakeLists.txt b/beluga/CMakeLists.txt
index 7fe686f61..1d6b96d5d 100644
--- a/beluga/CMakeLists.txt
+++ b/beluga/CMakeLists.txt
@@ -36,15 +36,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
               -Wpedantic)
 endif()
 if(CMAKE_BUILD_TYPE MATCHES "Debug")
-  if(CMAKE_COMPILER_IS_GNUCXX)
-    target_compile_options(
-      beluga_compile_options INTERFACE -fno-inline -fno-inline-small-functions
-                                       -fno-default-inline)
-  endif()
-  if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-    target_compile_options(beluga_compile_options
-                           INTERFACE -fno-inline-functions)
-  endif()
+  target_compile_options(beluga_compile_options INTERFACE -fno-inline)
 endif()
 
 find_package(Eigen3 REQUIRED NO_MODULE)
diff --git a/beluga_amcl/CMakeLists.txt b/beluga_amcl/CMakeLists.txt
index 51108431a..c67dea05e 100644
--- a/beluga_amcl/CMakeLists.txt
+++ b/beluga_amcl/CMakeLists.txt
@@ -34,13 +34,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
     -Wpedantic)
 endif()
 if(CMAKE_BUILD_TYPE MATCHES "Debug")
-  if(CMAKE_COMPILER_IS_GNUCXX)
-    add_compile_options(-fno-inline -fno-inline-small-functions
-                        -fno-default-inline)
-  endif()
-  if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-    add_compile_options(-fno-inline-functions)
-  endif()
+  add_compile_options(-fno-inline)
 endif()
 
 set(ROS_VERSION $ENV{ROS_VERSION})
diff --git a/beluga_ros/CMakeLists.txt b/beluga_ros/CMakeLists.txt
index e794a01ce..c878ce20e 100644
--- a/beluga_ros/CMakeLists.txt
+++ b/beluga_ros/CMakeLists.txt
@@ -34,13 +34,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
     -Wpedantic)
 endif()
 if(CMAKE_BUILD_TYPE MATCHES "Debug")
-  if(CMAKE_COMPILER_IS_GNUCXX)
-    add_compile_options(-fno-inline -fno-inline-small-functions
-                        -fno-default-inline)
-  endif()
-  if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-    add_compile_options(-fno-inline-functions)
-  endif()
+  add_compile_options(-fno-inline)
 endif()
 
 set(ROS_VERSION $ENV{ROS_VERSION})