diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index 9bb14cd..28a90d2 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -20,6 +20,8 @@ jobs:
             NAME: Address Sanitizer
           - TARGET_CMAKE_ARGS: -DENABLE_SANITIZER_THREAD=ON -DCMAKE_BUILD_TYPE=Debug
             NAME: Thread Sanitizer
+          - TARGET_CMAKE_ARGS: -DENABLE_SANITIZER_UNDEFINED_BEHAVIOR=ON -DCMAKE_BUILD_TYPE=Debug
+            NAME: Undefined Behavior Sanitizer
     env:
       ROS_DISTRO: rolling
     runs-on: ubuntu-latest
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 67df721..78ae257 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -9,6 +9,10 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
+# ENABLE_SANITIZER_* options: instrument the library, test plugins and tests alike.
+include(cmake/sanitizers.cmake)
+class_loader_enable_sanitizers()
+
 set(CLASS_LOADER_IGNORE_AMENT FALSE CACHE BOOL
   "Do not use ament when building this package.")
 if(NOT CLASS_LOADER_IGNORE_AMENT)
diff --git a/cmake/sanitizers.cmake b/cmake/sanitizers.cmake
index b264fbe..4e94447 100644
--- a/cmake/sanitizers.cmake
+++ b/cmake/sanitizers.cmake
@@ -1,15 +1,9 @@
-function(enable_sanitizers project_name)
+# Sets LIST_OF_SANITIZERS in the caller's scope to the comma-separated sanitizers selected by the
+# ENABLE_SANITIZER_* options (empty if none, or if the compiler isn't GCC or Clang).
+function(class_loader_get_sanitizers)
+  set(SANITIZERS "")
 
   if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR CMAKE_CXX_COMPILER_ID MATCHES ".*Clang")
-    option(ENABLE_COVERAGE "Enable coverage reporting for gcc/clang" OFF)
-
-    if(ENABLE_COVERAGE)
-      target_compile_options(${project_name} INTERFACE --coverage -O0 -g -fno-omit-frame-pointer)
-      target_link_libraries(${project_name} INTERFACE --coverage)
-    endif()
-
-    set(SANITIZERS "")
-
     option(ENABLE_SANITIZER_ADDRESS "Enable address sanitizer" OFF)
     if(ENABLE_SANITIZER_ADDRESS)
       list(APPEND SANITIZERS "address")
@@ -46,23 +40,54 @@ function(enable_sanitizers project_name)
         list(APPEND SANITIZERS "memory")
       endif()
     endif()
+  endif()
 
-    list(
-      JOIN
-      SANITIZERS
-      ","
-      LIST_OF_SANITIZERS)
+  list(JOIN SANITIZERS "," LIST_OF_SANITIZERS)
+  set(LIST_OF_SANITIZERS "${LIST_OF_SANITIZERS}" PARENT_SCOPE)
+endfunction()
 
+# Sets the compile and link options for the selected sanitizers (and ENABLE_COVERAGE) on the
+# current directory, so they apply to every target defined after this call, here and in
+# subdirectories. Call it before defining any targets, so the library is instrumented as well as
+# the tests and test plugins. Directory options aren't exported, so consumers of the installed
+# library are unaffected.
+function(class_loader_enable_sanitizers)
+  if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR CMAKE_CXX_COMPILER_ID MATCHES ".*Clang")
+    option(ENABLE_COVERAGE "Enable coverage reporting for gcc/clang" OFF)
+    if(ENABLE_COVERAGE)
+      add_compile_options(--coverage -O0 -g -fno-omit-frame-pointer)
+      add_link_options(--coverage)
+    endif()
   endif()
 
-  if(LIST_OF_SANITIZERS)
-    if(NOT
-        "${LIST_OF_SANITIZERS}"
-        STREQUAL
-        "")
-      target_compile_options(${project_name} INTERFACE -fsanitize=${LIST_OF_SANITIZERS})
-      target_link_options(${project_name} INTERFACE -fsanitize=${LIST_OF_SANITIZERS})
+  class_loader_get_sanitizers()
+  if(NOT LIST_OF_SANITIZERS STREQUAL "")
+    message(STATUS "class_loader: building with -fsanitize=${LIST_OF_SANITIZERS}")
+    set(flags -fsanitize=${LIST_OF_SANITIZERS} -fno-omit-frame-pointer)
+    if(ENABLE_SANITIZER_UNDEFINED_BEHAVIOR)
+      # Make undefined behavior fail the test instead of only printing a diagnostic.
+      list(APPEND flags -fno-sanitize-recover=undefined)
     endif()
+    add_compile_options(${flags})
+    add_link_options(${flags})
   endif()
+endfunction()
 
+# Adds the options for the selected sanitizers (and ENABLE_COVERAGE) to the interface of target
+# project_name. Kept for compatibility, since this file is installed; this package itself uses
+# class_loader_enable_sanitizers().
+function(enable_sanitizers project_name)
+  if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR CMAKE_CXX_COMPILER_ID MATCHES ".*Clang")
+    option(ENABLE_COVERAGE "Enable coverage reporting for gcc/clang" OFF)
+    if(ENABLE_COVERAGE)
+      target_compile_options(${project_name} INTERFACE --coverage -O0 -g -fno-omit-frame-pointer)
+      target_link_libraries(${project_name} INTERFACE --coverage)
+    endif()
+  endif()
+
+  class_loader_get_sanitizers()
+  if(NOT LIST_OF_SANITIZERS STREQUAL "")
+    target_compile_options(${project_name} INTERFACE -fsanitize=${LIST_OF_SANITIZERS})
+    target_link_options(${project_name} INTERFACE -fsanitize=${LIST_OF_SANITIZERS})
+  endif()
 endfunction()
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 8c72c68..5b2961e 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -2,11 +2,6 @@ find_package(ament_cmake_gtest REQUIRED)
 
 include("../cmake/class_loader_hide_library_symbols.cmake")
 
-# Link this 'library' to set the compile-time options requested
-add_library(project_options INTERFACE)
-include(../cmake/sanitizers.cmake)
-enable_sanitizers(project_options)
-
 add_library(${PROJECT_NAME}_TestPlugins1 EXCLUDE_FROM_ALL SHARED plugins1.cpp)
 target_link_libraries(${PROJECT_NAME}_TestPlugins1 ${PROJECT_NAME})
 class_loader_hide_library_symbols(${PROJECT_NAME}_TestPlugins1)
@@ -46,7 +41,7 @@ if(TARGET ${PROJECT_NAME}_utest)
       PUBLIC "../include" ${console_bridge_INCLUDE_DIRS})
     target_link_libraries(${PROJECT_NAME}_utest)
   endif()
-  target_link_libraries(${PROJECT_NAME}_utest ${PROJECT_NAME} project_options)
+  target_link_libraries(${PROJECT_NAME}_utest ${PROJECT_NAME})
 
   if(NOT WIN32)
     target_link_libraries(${PROJECT_NAME}_utest pthread)
@@ -63,7 +58,7 @@ ament_add_gtest(${PROJECT_NAME}_unmanaged_test unmanaged_test.cpp
 )
 if(TARGET ${PROJECT_NAME}_unmanaged_test)
   target_include_directories(${PROJECT_NAME}_unmanaged_test PUBLIC "../include")
-  target_link_libraries(${PROJECT_NAME}_unmanaged_test ${PROJECT_NAME} project_options)
+  target_link_libraries(${PROJECT_NAME}_unmanaged_test ${PROJECT_NAME})
   add_dependencies(${PROJECT_NAME}_unmanaged_test
     ${PROJECT_NAME}_TestPlugins1
     ${PROJECT_NAME}_TestPlugins3)