diff --git a/moveit_core/collision_detection/CMakeLists.txt b/moveit_core/collision_detection/CMakeLists.txt
index 49111a4270..a1603e8b77 100644
--- a/moveit_core/collision_detection/CMakeLists.txt
+++ b/moveit_core/collision_detection/CMakeLists.txt
@@ -50,6 +50,10 @@ if(BUILD_TESTING)
   target_link_libraries(test_all_valid ${MOVEIT_LIB_NAME} moveit_robot_model)
 endif()
 
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(${MOVEIT_LIB_NAME} PRIVATE "COLLISION_DETECTION_BUILDING_LIBRARY")
+
 install(TARGETS ${MOVEIT_LIB_NAME}
   LIBRARY DESTINATION lib
   ARCHIVE DESTINATION lib
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_detector_allocator_allvalid.h b/moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_detector_allocator_allvalid.h
index fdc9aec03b..a23bcb8afb 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_detector_allocator_allvalid.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_detector_allocator_allvalid.h
@@ -38,6 +38,7 @@
 
 #include <moveit/collision_detection/collision_detector_allocator.h>
 #include <moveit/collision_detection/allvalid/collision_env_allvalid.h>
+#include <moveit/collision_detection/visibility_control.hpp>
 
 namespace collision_detection
 {
@@ -46,6 +47,6 @@ class CollisionDetectorAllocatorAllValid
   : public CollisionDetectorAllocatorTemplate<CollisionEnvAllValid, CollisionDetectorAllocatorAllValid>
 {
 public:
-  static const std::string NAME;  // defined in collision_env_allvalid.cpp
+  COLLISION_DETECTION_PUBLIC static const std::string NAME;  // defined in collision_env_allvalid.cpp
 };
 }  // namespace collision_detection
diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/visibility_control.hpp b/moveit_core/collision_detection/include/moveit/collision_detection/visibility_control.hpp
new file mode 100644
index 0000000000..de3c080893
--- /dev/null
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/visibility_control.hpp
@@ -0,0 +1,70 @@
+// Copyright (c) 2019, Open Source Robotics Foundation, Inc.
+// All rights reserved.
+//
+// Software License Agreement (BSD License 2.0)
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * Redistributions in binary form must reproduce the above
+//    copyright notice, this list of conditions and the following
+//    disclaimer in the documentation and/or other materials provided
+//    with the distribution.
+//  * Neither the name of Open Source Robotics Foundation, Inc. nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef COLLISION_DETECTION__VISIBILITY_CONTROL_HPP_
+#define COLLISION_DETECTION__VISIBILITY_CONTROL_HPP_
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+// clang-format off
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define COLLISION_DETECTION_EXPORT __attribute__ ((dllexport))
+    #define COLLISION_DETECTION_IMPORT __attribute__ ((dllimport))
+  #else
+    #define COLLISION_DETECTION_EXPORT __declspec(dllexport)
+    #define COLLISION_DETECTION_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef COLLISION_DETECTION_BUILDING_LIBRARY
+    #define COLLISION_DETECTION_PUBLIC COLLISION_DETECTION_EXPORT
+  #else
+    #define COLLISION_DETECTION_PUBLIC COLLISION_DETECTION_IMPORT
+  #endif
+  #define COLLISION_DETECTION_PUBLIC_TYPE COLLISION_DETECTION_PUBLIC
+  #define COLLISION_DETECTION_LOCAL
+#else
+  #define COLLISION_DETECTION_EXPORT __attribute__ ((visibility("default")))
+  #define COLLISION_DETECTION_IMPORT
+  #if __GNUC__ >= 4
+    #define COLLISION_DETECTION_PUBLIC __attribute__ ((visibility("default")))
+    #define COLLISION_DETECTION_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define COLLISION_DETECTION_PUBLIC
+    #define COLLISION_DETECTION_LOCAL
+  #endif
+  #define COLLISION_DETECTION_PUBLIC_TYPE
+#endif
+// clang-format on
+#endif  // COLLISION_DETECTION__VISIBILITY_CONTROL_HPP_
\ No newline at end of file
diff --git a/moveit_core/collision_detection_fcl/CMakeLists.txt b/moveit_core/collision_detection_fcl/CMakeLists.txt
index 5e2baec8b4..3ded044c96 100644
--- a/moveit_core/collision_detection_fcl/CMakeLists.txt
+++ b/moveit_core/collision_detection_fcl/CMakeLists.txt
@@ -19,6 +19,10 @@ target_link_libraries(${MOVEIT_LIB_NAME}
   moveit_collision_detection
 )
 
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(${MOVEIT_LIB_NAME} PRIVATE "COLLISION_DETECTION_FCL_BUILDING_LIBRARY")
+
 add_library(collision_detector_fcl_plugin SHARED src/collision_detector_fcl_plugin_loader.cpp)
 set_target_properties(collision_detector_fcl_plugin PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 ament_target_dependencies(collision_detector_fcl_plugin
diff --git a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_allocator_fcl.h b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_allocator_fcl.h
index fde03c4cb5..dedda9c0d7 100644
--- a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_allocator_fcl.h
+++ b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_allocator_fcl.h
@@ -38,6 +38,7 @@
 
 #include <moveit/collision_detection/collision_detector_allocator.h>
 #include <moveit/collision_detection_fcl/collision_env_fcl.h>
+#include <moveit/collision_detection_fcl/visibility_control.hpp>
 
 namespace collision_detection
 {
@@ -46,6 +47,6 @@ class CollisionDetectorAllocatorFCL
   : public CollisionDetectorAllocatorTemplate<CollisionEnvFCL, CollisionDetectorAllocatorFCL>
 {
 public:
-  static const std::string NAME;  // defined in collision_env_fcl.cpp
+  COLLISION_DETECTION_FCL_PUBLIC static const std::string NAME;  // defined in collision_env_fcl.cpp
 };
 }  // namespace collision_detection
diff --git a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_fcl_plugin_loader.h b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_fcl_plugin_loader.h
index 307130939c..5f872dc0ed 100644
--- a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_fcl_plugin_loader.h
+++ b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_fcl_plugin_loader.h
@@ -38,10 +38,11 @@
 
 #include <moveit/collision_detection/collision_plugin.h>
 #include <moveit/collision_detection_fcl/collision_detector_allocator_fcl.h>
+#include <moveit/collision_detection_fcl/visibility_control.hpp>
 
 namespace collision_detection
 {
-class CollisionDetectorFCLPluginLoader : public CollisionPlugin
+class COLLISION_DETECTION_FCL_PLUGIN_PUBLIC CollisionDetectorFCLPluginLoader : public CollisionPlugin
 {
 public:
   bool initialize(const planning_scene::PlanningScenePtr& scene, bool exclusive) const override;
diff --git a/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/visibility_control.hpp b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/visibility_control.hpp
new file mode 100644
index 0000000000..91c54499c5
--- /dev/null
+++ b/moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/visibility_control.hpp
@@ -0,0 +1,100 @@
+// Copyright (c) 2019, Open Source Robotics Foundation, Inc.
+// All rights reserved.
+//
+// Software License Agreement (BSD License 2.0)
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * Redistributions in binary form must reproduce the above
+//    copyright notice, this list of conditions and the following
+//    disclaimer in the documentation and/or other materials provided
+//    with the distribution.
+//  * Neither the name of Open Source Robotics Foundation, Inc. nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef COLLISION_DETECTION_FCL__VISIBILITY_CONTROL_HPP_
+#define COLLISION_DETECTION_FCL__VISIBILITY_CONTROL_HPP_
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+// clang-format off
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define COLLISION_DETECTION_FCL_EXPORT __attribute__ ((dllexport))
+    #define COLLISION_DETECTION_FCL_IMPORT __attribute__ ((dllimport))
+  #else
+    #define COLLISION_DETECTION_FCL_EXPORT __declspec(dllexport)
+    #define COLLISION_DETECTION_FCL_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef COLLISION_DETECTION_FCL_BUILDING_LIBRARY
+    #define COLLISION_DETECTION_FCL_PUBLIC COLLISION_DETECTION_FCL_EXPORT
+  #else
+    #define COLLISION_DETECTION_FCL_PUBLIC COLLISION_DETECTION_FCL_IMPORT
+  #endif
+  #define COLLISION_DETECTION_FCL_PUBLIC_TYPE COLLISION_DETECTION_FCL_PUBLIC
+  #define COLLISION_DETECTION_FCL_LOCAL
+#else
+  #define COLLISION_DETECTION_FCL_EXPORT __attribute__ ((visibility("default")))
+  #define COLLISION_DETECTION_FCL_IMPORT
+  #if __GNUC__ >= 4
+    #define COLLISION_DETECTION_FCL_PUBLIC __attribute__ ((visibility("default")))
+    #define COLLISION_DETECTION_FCL_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define COLLISION_DETECTION_FCL_PUBLIC
+    #define COLLISION_DETECTION_FCL_LOCAL
+  #endif
+  #define COLLISION_DETECTION_FCL_PUBLIC_TYPE
+#endif
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define COLLISION_DETECTION_FCL_PLUGIN_EXPORT __attribute__ ((dllexport))
+    #define COLLISION_DETECTION_FCL_PLUGIN_IMPORT __attribute__ ((dllimport))
+  #else
+    #define COLLISION_DETECTION_FCL_PLUGIN_EXPORT __declspec(dllexport)
+    #define COLLISION_DETECTION_FCL_PLUGIN_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef COLLISION_DETECTION_FCL_PLUGIN_BUILDING_LIBRARY
+    #define COLLISION_DETECTION_FCL_PLUGIN_PUBLIC COLLISION_DETECTION_FCL_PLUGIN_EXPORT
+  #else
+    #define COLLISION_DETECTION_FCL_PLUGIN_PUBLIC COLLISION_DETECTION_FCL_PLUGIN_IMPORT
+  #endif
+  #define COLLISION_DETECTION_FCL_PLUGIN_PUBLIC_TYPE COLLISION_DETECTION_FCL_PLUGIN_PUBLIC
+  #define COLLISION_DETECTION_FCL_PLUGIN_LOCAL
+#else
+  #define COLLISION_DETECTION_FCL_PLUGIN_EXPORT __attribute__ ((visibility("default")))
+  #define COLLISION_DETECTION_FCL_PLUGIN_IMPORT
+  #if __GNUC__ >= 4
+    #define COLLISION_DETECTION_FCL_PLUGIN_PUBLIC __attribute__ ((visibility("default")))
+    #define COLLISION_DETECTION_FCL_PLUGIN_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define COLLISION_DETECTION_FCL_PLUGIN_PUBLIC
+    #define COLLISION_DETECTION_FCL_PLUGIN_LOCAL
+  #endif
+  #define COLLISION_DETECTION_FCL_PLUGIN_PUBLIC_TYPE
+#endif
+
+// clang-format on
+#endif  // COLLISION_DETECTION_FCL__VISIBILITY_CONTROL_HPP_
\ No newline at end of file
diff --git a/moveit_core/kinematics_base/CMakeLists.txt b/moveit_core/kinematics_base/CMakeLists.txt
index ce3e6c3fe9..621b192668 100644
--- a/moveit_core/kinematics_base/CMakeLists.txt
+++ b/moveit_core/kinematics_base/CMakeLists.txt
@@ -7,6 +7,10 @@ set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_V
 # This line is needed to ensure that messages are done being built before this is built
 ament_target_dependencies(${MOVEIT_LIB_NAME} rclcpp urdf urdfdom_headers srdfdom moveit_msgs geometric_shapes geometry_msgs Boost)
 
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(${MOVEIT_LIB_NAME} PRIVATE "KINEMATICS_BASE_BUILDING_LIBRARY")
+
 install(TARGETS ${MOVEIT_LIB_NAME}
         LIBRARY DESTINATION lib
         ARCHIVE DESTINATION lib
diff --git a/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h b/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
index 9f55085f61..158e710d47 100644
--- a/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
+++ b/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
@@ -39,6 +39,7 @@
 #include <geometry_msgs/msg/pose.hpp>
 #include <moveit_msgs/msg/move_it_error_codes.hpp>
 #include <moveit/macros/class_forward.h>
+#include <moveit/kinematics_base/visibility_control.hpp>
 #include "rclcpp/rclcpp.hpp"
 #include <boost/function.hpp>
 #include <string>
@@ -140,7 +141,7 @@ MOVEIT_CLASS_FORWARD(KinematicsBase)  // Defines KinematicsBasePtr, ConstPtr, We
  * @class KinematicsBase
  * @brief Provides an interface for kinematics solvers.
  */
-class KinematicsBase
+class KINEMATICS_BASE_PUBLIC KinematicsBase
 {
 public:
   static const rclcpp::Logger LOGGER;
diff --git a/moveit_core/kinematics_base/include/moveit/kinematics_base/visibility_control.hpp b/moveit_core/kinematics_base/include/moveit/kinematics_base/visibility_control.hpp
new file mode 100644
index 0000000000..1ed3f33d2e
--- /dev/null
+++ b/moveit_core/kinematics_base/include/moveit/kinematics_base/visibility_control.hpp
@@ -0,0 +1,72 @@
+// Copyright (c) 2019, Open Source Robotics Foundation, Inc.
+// All rights reserved.
+//
+// Software License Agreement (BSD License 2.0)
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * Redistributions in binary form must reproduce the above
+//    copyright notice, this list of conditions and the following
+//    disclaimer in the documentation and/or other materials provided
+//    with the distribution.
+//  * Neither the name of Open Source Robotics Foundation, Inc. nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef KINEMATICS_BASE__VISIBILITY_CONTROL_HPP_
+#define KINEMATICS_BASE__VISIBILITY_CONTROL_HPP_
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+// clang-format off
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define KINEMATICS_BASE_EXPORT __attribute__ ((dllexport))
+    #define KINEMATICS_BASE_IMPORT __attribute__ ((dllimport))
+  #else
+    #define KINEMATICS_BASE_EXPORT __declspec(dllexport)
+    #define KINEMATICS_BASE_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef KINEMATICS_BASE_BUILDING_LIBRARY
+    #define KINEMATICS_BASE_PUBLIC KINEMATICS_BASE_EXPORT
+  #else
+    #define KINEMATICS_BASE_PUBLIC KINEMATICS_BASE_IMPORT
+  #endif
+  #define KINEMATICS_BASE_PUBLIC_TYPE KINEMATICS_BASE_PUBLIC
+  #define KINEMATICS_BASE_LOCAL
+#else
+  #define KINEMATICS_BASE_EXPORT __attribute__ ((visibility("default")))
+  #define KINEMATICS_BASE_IMPORT
+  #if __GNUC__ >= 4
+    #define KINEMATICS_BASE_PUBLIC __attribute__ ((visibility("default")))
+    #define KINEMATICS_BASE_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define KINEMATICS_BASE_PUBLIC
+    #define KINEMATICS_BASE_LOCAL
+  #endif
+  #define KINEMATICS_BASE_PUBLIC_TYPE
+#endif
+
+// clang-format on
+#endif  // KINEMATICS_BASE__VISIBILITY_CONTROL_HPP_
\ No newline at end of file
diff --git a/moveit_core/planning_scene/CMakeLists.txt b/moveit_core/planning_scene/CMakeLists.txt
index 5413bc5c1e..f81fcc925d 100644
--- a/moveit_core/planning_scene/CMakeLists.txt
+++ b/moveit_core/planning_scene/CMakeLists.txt
@@ -25,6 +25,10 @@ target_link_libraries(${MOVEIT_LIB_NAME}
   moveit_utils
 )
 
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(${MOVEIT_LIB_NAME} PRIVATE "PLANNING_SCENE_BUILDING_LIBRARY")
+
 install(TARGETS ${MOVEIT_LIB_NAME}
         LIBRARY DESTINATION lib
         ARCHIVE DESTINATION lib
diff --git a/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h b/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
index a34f79f2f6..a65850e90d 100644
--- a/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
+++ b/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
@@ -46,6 +46,7 @@
 #include <moveit/kinematics_base/kinematics_base.h>
 #include <moveit/robot_trajectory/robot_trajectory.h>
 #include <moveit/macros/class_forward.h>
+#include <moveit/planning_scene/visibility_control.hpp>
 #include <moveit_msgs/msg/planning_scene.hpp>
 #include <moveit_msgs/msg/robot_trajectory.hpp>
 #include <moveit_msgs/msg/constraints.hpp>
@@ -99,8 +100,8 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
       const urdf::ModelInterfaceSharedPtr& urdf_model, const srdf::ModelConstSharedPtr& srdf_model,
       const collision_detection::WorldPtr& world = collision_detection::WorldPtr(new collision_detection::World()));
 
-  static const std::string OCTOMAP_NS;
-  static const std::string DEFAULT_SCENE_NAME;
+  PLANNING_SCENE_PUBLIC static const std::string OCTOMAP_NS;
+  PLANNING_SCENE_PUBLIC static const std::string DEFAULT_SCENE_NAME;
 
   ~PlanningScene();
 
diff --git a/moveit_core/planning_scene/include/moveit/planning_scene/visibility_control.hpp b/moveit_core/planning_scene/include/moveit/planning_scene/visibility_control.hpp
new file mode 100644
index 0000000000..e2ac322d90
--- /dev/null
+++ b/moveit_core/planning_scene/include/moveit/planning_scene/visibility_control.hpp
@@ -0,0 +1,72 @@
+// Copyright (c) 2019, Open Source Robotics Foundation, Inc.
+// All rights reserved.
+//
+// Software License Agreement (BSD License 2.0)
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * Redistributions in binary form must reproduce the above
+//    copyright notice, this list of conditions and the following
+//    disclaimer in the documentation and/or other materials provided
+//    with the distribution.
+//  * Neither the name of Open Source Robotics Foundation, Inc. nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef PLANNING_SCENE__VISIBILITY_CONTROL_HPP_
+#define PLANNING_SCENE__VISIBILITY_CONTROL_HPP_
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+// clang-format off
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define PLANNING_SCENE_EXPORT __attribute__ ((dllexport))
+    #define PLANNING_SCENE_IMPORT __attribute__ ((dllimport))
+  #else
+    #define PLANNING_SCENE_EXPORT __declspec(dllexport)
+    #define PLANNING_SCENE_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef PLANNING_SCENE_BUILDING_LIBRARY
+    #define PLANNING_SCENE_PUBLIC PLANNING_SCENE_EXPORT
+  #else
+    #define PLANNING_SCENE_PUBLIC PLANNING_SCENE_IMPORT
+  #endif
+  #define PLANNING_SCENE_PUBLIC_TYPE PLANNING_SCENE_PUBLIC
+  #define PLANNING_SCENE_LOCAL
+#else
+  #define PLANNING_SCENE_EXPORT __attribute__ ((visibility("default")))
+  #define PLANNING_SCENE_IMPORT
+  #if __GNUC__ >= 4
+    #define PLANNING_SCENE_PUBLIC __attribute__ ((visibility("default")))
+    #define PLANNING_SCENE_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define PLANNING_SCENE_PUBLIC
+    #define PLANNING_SCENE_LOCAL
+  #endif
+  #define PLANNING_SCENE_PUBLIC_TYPE
+#endif
+
+// clang-format on
+#endif  // PLANNING_SCENE__VISIBILITY_CONTROL_HPP_
\ No newline at end of file
diff --git a/moveit_core/robot_model/CMakeLists.txt b/moveit_core/robot_model/CMakeLists.txt
index 66057ccffc..4ae6f6408b 100644
--- a/moveit_core/robot_model/CMakeLists.txt
+++ b/moveit_core/robot_model/CMakeLists.txt
@@ -29,6 +29,10 @@ target_link_libraries(${MOVEIT_LIB_NAME}
   moveit_kinematics_base
 )
 
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(${MOVEIT_LIB_NAME} PRIVATE "ROBOT_MODEL_BUILDING_LIBRARY")
+
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
   ament_add_gtest(test_robot_model test/test.cpp)
diff --git a/moveit_core/robot_model/include/moveit/robot_model/robot_model.h b/moveit_core/robot_model/include/moveit/robot_model/robot_model.h
index 3560c67da7..22278a9ce7 100644
--- a/moveit_core/robot_model/include/moveit/robot_model/robot_model.h
+++ b/moveit_core/robot_model/include/moveit/robot_model/robot_model.h
@@ -39,6 +39,7 @@
 
 #include <moveit/macros/class_forward.h>
 #include <moveit/exceptions/exceptions.h>
+#include <moveit/robot_model/visibility_control.hpp>
 #include <srdfdom/model.h>
 
 // joint types
@@ -61,7 +62,7 @@ MOVEIT_CLASS_FORWARD(RobotModel)  // Defines RobotModelPtr, ConstPtr, WeakPtr...
 
 /** \brief Definition of a kinematic model. This class is not thread
     safe, however multiple instances can be created */
-class RobotModel
+class ROBOT_MODEL_PUBLIC RobotModel
 {
 public:
   /** \brief Construct a kinematic model from a parsed description and a list of planning groups */
diff --git a/moveit_core/robot_model/include/moveit/robot_model/visibility_control.hpp b/moveit_core/robot_model/include/moveit/robot_model/visibility_control.hpp
new file mode 100644
index 0000000000..b08a2e876e
--- /dev/null
+++ b/moveit_core/robot_model/include/moveit/robot_model/visibility_control.hpp
@@ -0,0 +1,72 @@
+// Copyright (c) 2019, Open Source Robotics Foundation, Inc.
+// All rights reserved.
+//
+// Software License Agreement (BSD License 2.0)
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * Redistributions in binary form must reproduce the above
+//    copyright notice, this list of conditions and the following
+//    disclaimer in the documentation and/or other materials provided
+//    with the distribution.
+//  * Neither the name of Open Source Robotics Foundation, Inc. nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef ROBOT_MODEL__VISIBILITY_CONTROL_HPP_
+#define ROBOT_MODEL__VISIBILITY_CONTROL_HPP_
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+// clang-format off
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define ROBOT_MODEL_EXPORT __attribute__ ((dllexport))
+    #define ROBOT_MODEL_IMPORT __attribute__ ((dllimport))
+  #else
+    #define ROBOT_MODEL_EXPORT __declspec(dllexport)
+    #define ROBOT_MODEL_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef ROBOT_MODEL_BUILDING_LIBRARY
+    #define ROBOT_MODEL_PUBLIC ROBOT_MODEL_EXPORT
+  #else
+    #define ROBOT_MODEL_PUBLIC ROBOT_MODEL_IMPORT
+  #endif
+  #define ROBOT_MODEL_PUBLIC_TYPE ROBOT_MODEL_PUBLIC
+  #define ROBOT_MODEL_LOCAL
+#else
+  #define ROBOT_MODEL_EXPORT __attribute__ ((visibility("default")))
+  #define ROBOT_MODEL_IMPORT
+  #if __GNUC__ >= 4
+    #define ROBOT_MODEL_PUBLIC __attribute__ ((visibility("default")))
+    #define ROBOT_MODEL_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define ROBOT_MODEL_PUBLIC
+    #define ROBOT_MODEL_LOCAL
+  #endif
+  #define ROBOT_MODEL_PUBLIC_TYPE
+#endif
+
+// clang-format on
+#endif  // ROBOT_MODEL__VISIBILITY_CONTROL_HPP_
\ No newline at end of file
diff --git a/moveit_core/robot_state/CMakeLists.txt b/moveit_core/robot_state/CMakeLists.txt
index 89e77072d1..e648cbe122 100644
--- a/moveit_core/robot_state/CMakeLists.txt
+++ b/moveit_core/robot_state/CMakeLists.txt
@@ -25,6 +25,10 @@ target_link_libraries(${MOVEIT_LIB_NAME}
   moveit_transforms
 )
 
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(${MOVEIT_LIB_NAME} PRIVATE "ROBOT_STATE_BUILDING_LIBRARY")
+
 install(TARGETS ${MOVEIT_LIB_NAME}
         LIBRARY DESTINATION lib
         ARCHIVE DESTINATION lib
diff --git a/moveit_core/robot_state/include/moveit/robot_state/robot_state.h b/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
index 0a3fcf35a3..d7b7f432c2 100644
--- a/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
+++ b/moveit_core/robot_state/include/moveit/robot_state/robot_state.h
@@ -40,6 +40,7 @@
 #include <moveit/robot_model/robot_model.h>
 #include <moveit/robot_state/attached_body.h>
 #include <moveit/transforms/transforms.h>
+#include <moveit/robot_state/visibility_control.hpp>
 #include <sensor_msgs/msg/joint_state.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
 #include <std_msgs/msg/color_rgba.hpp>
@@ -86,7 +87,7 @@ typedef boost::function<bool(RobotState* robot_state, const JointModelGroup* joi
     For efficiency reasons a state computes forward kinematics in a
     lazy fashion. This can sometimes lead to problems if the update()
     function was not called on the state. */
-class RobotState
+class ROBOT_STATE_PUBLIC RobotState
 {
 public:
   /** \brief A state can be constructed from a specified robot model. No values are initialized.
diff --git a/moveit_core/robot_state/include/moveit/robot_state/visibility_control.hpp b/moveit_core/robot_state/include/moveit/robot_state/visibility_control.hpp
new file mode 100644
index 0000000000..4768c99e35
--- /dev/null
+++ b/moveit_core/robot_state/include/moveit/robot_state/visibility_control.hpp
@@ -0,0 +1,72 @@
+// Copyright (c) 2019, Open Source Robotics Foundation, Inc.
+// All rights reserved.
+//
+// Software License Agreement (BSD License 2.0)
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * Redistributions in binary form must reproduce the above
+//    copyright notice, this list of conditions and the following
+//    disclaimer in the documentation and/or other materials provided
+//    with the distribution.
+//  * Neither the name of Open Source Robotics Foundation, Inc. nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef ROBOT_STATE__VISIBILITY_CONTROL_HPP_
+#define ROBOT_STATE__VISIBILITY_CONTROL_HPP_
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+// clang-format off
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define ROBOT_STATE_EXPORT __attribute__ ((dllexport))
+    #define ROBOT_STATE_IMPORT __attribute__ ((dllimport))
+  #else
+    #define ROBOT_STATE_EXPORT __declspec(dllexport)
+    #define ROBOT_STATE_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef ROBOT_STATE_BUILDING_LIBRARY
+    #define ROBOT_STATE_PUBLIC ROBOT_STATE_EXPORT
+  #else
+    #define ROBOT_STATE_PUBLIC ROBOT_STATE_IMPORT
+  #endif
+  #define ROBOT_STATE_PUBLIC_TYPE ROBOT_STATE_PUBLIC
+  #define ROBOT_STATE_LOCAL
+#else
+  #define ROBOT_STATE_EXPORT __attribute__ ((visibility("default")))
+  #define ROBOT_STATE_IMPORT
+  #if __GNUC__ >= 4
+    #define ROBOT_STATE_PUBLIC __attribute__ ((visibility("default")))
+    #define ROBOT_STATE_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define ROBOT_STATE_PUBLIC
+    #define ROBOT_STATE_LOCAL
+  #endif
+  #define ROBOT_STATE_PUBLIC_TYPE
+#endif
+
+// clang-format on
+#endif  // ROBOT_STATE__VISIBILITY_CONTROL_HPP_
\ No newline at end of file
diff --git a/moveit_core/robot_trajectory/CMakeLists.txt b/moveit_core/robot_trajectory/CMakeLists.txt
index 64b40492ee..cd215ae5f9 100644
--- a/moveit_core/robot_trajectory/CMakeLists.txt
+++ b/moveit_core/robot_trajectory/CMakeLists.txt
@@ -14,6 +14,10 @@ target_link_libraries(${MOVEIT_LIB_NAME}
   moveit_robot_state
 )
 
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(${MOVEIT_LIB_NAME} PRIVATE "ROBOT_TRAJECTORY_BUILDING_LIBRARY")
+
 install(TARGETS ${MOVEIT_LIB_NAME}
   ARCHIVE  DESTINATION lib
   LIBRARY DESTINATION lib
diff --git a/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h b/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h
index f5168b7fe8..7a48ce0abe 100644
--- a/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h
+++ b/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h
@@ -37,6 +37,7 @@
 #pragma once
 
 #include <moveit/macros/class_forward.h>
+#include <moveit/robot_trajectory/visibility_control.hpp>
 #include <moveit/robot_state/robot_state.h>
 #include <moveit_msgs/msg/robot_trajectory.hpp>
 #include <moveit_msgs/msg/robot_state.hpp>
@@ -55,7 +56,7 @@ MOVEIT_CLASS_FORWARD(RobotTrajectory)  // Defines RobotTrajectoryPtr, ConstPtr,
 
 /** \brief Maintain a sequence of waypoints and the time durations
     between these waypoints */
-class RobotTrajectory
+class ROBOT_TRAJECTORY_PUBLIC RobotTrajectory
 {
 public:
   RobotTrajectory(const moveit::core::RobotModelConstPtr& robot_model, const std::string& group);
diff --git a/moveit_core/robot_trajectory/include/moveit/robot_trajectory/visibility_control.hpp b/moveit_core/robot_trajectory/include/moveit/robot_trajectory/visibility_control.hpp
new file mode 100644
index 0000000000..2e98ad530a
--- /dev/null
+++ b/moveit_core/robot_trajectory/include/moveit/robot_trajectory/visibility_control.hpp
@@ -0,0 +1,72 @@
+// Copyright (c) 2019, Open Source Robotics Foundation, Inc.
+// All rights reserved.
+//
+// Software License Agreement (BSD License 2.0)
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * Redistributions in binary form must reproduce the above
+//    copyright notice, this list of conditions and the following
+//    disclaimer in the documentation and/or other materials provided
+//    with the distribution.
+//  * Neither the name of Open Source Robotics Foundation, Inc. nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef ROBOT_TRAJECTORY__VISIBILITY_CONTROL_HPP_
+#define ROBOT_TRAJECTORY__VISIBILITY_CONTROL_HPP_
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+// clang-format off
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define ROBOT_TRAJECTORY_EXPORT __attribute__ ((dllexport))
+    #define ROBOT_TRAJECTORY_IMPORT __attribute__ ((dllimport))
+  #else
+    #define ROBOT_TRAJECTORY_EXPORT __declspec(dllexport)
+    #define ROBOT_TRAJECTORY_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef ROBOT_TRAJECTORY_BUILDING_LIBRARY
+    #define ROBOT_TRAJECTORY_PUBLIC ROBOT_TRAJECTORY_EXPORT
+  #else
+    #define ROBOT_TRAJECTORY_PUBLIC ROBOT_TRAJECTORY_IMPORT
+  #endif
+  #define ROBOT_TRAJECTORY_PUBLIC_TYPE ROBOT_TRAJECTORY_PUBLIC
+  #define ROBOT_TRAJECTORY_LOCAL
+#else
+  #define ROBOT_TRAJECTORY_EXPORT __attribute__ ((visibility("default")))
+  #define ROBOT_TRAJECTORY_IMPORT
+  #if __GNUC__ >= 4
+    #define ROBOT_TRAJECTORY_PUBLIC __attribute__ ((visibility("default")))
+    #define ROBOT_TRAJECTORY_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define ROBOT_TRAJECTORY_PUBLIC
+    #define ROBOT_TRAJECTORY_LOCAL
+  #endif
+  #define ROBOT_TRAJECTORY_PUBLIC_TYPE
+#endif
+
+// clang-format on
+#endif  // ROBOT_TRAJECTORY__VISIBILITY_CONTROL_HPP_
\ No newline at end of file
diff --git a/moveit_ros/move_group/CMakeLists.txt b/moveit_ros/move_group/CMakeLists.txt
index 1695187ba4..c7289ee426 100644
--- a/moveit_ros/move_group/CMakeLists.txt
+++ b/moveit_ros/move_group/CMakeLists.txt
@@ -26,6 +26,10 @@ target_include_directories(moveit_move_group_capabilities_base PUBLIC include)
 ament_target_dependencies(moveit_move_group_capabilities_base
   rclcpp moveit_core moveit_ros_planning tf2_geometry_msgs)
 
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(moveit_move_group_capabilities_base PRIVATE "MOVE_GROUP_BUILDING_LIBRARY")
+
 add_executable(move_group src/move_group.cpp)
 target_include_directories(move_group PUBLIC include)
 ament_target_dependencies(move_group
diff --git a/moveit_ros/move_group/include/moveit/move_group/move_group_capability.h b/moveit_ros/move_group/include/moveit/move_group/move_group_capability.h
index f80e3fd7f4..0f04dd4422 100644
--- a/moveit_ros/move_group/include/moveit/move_group/move_group_capability.h
+++ b/moveit_ros/move_group/include/moveit/move_group/move_group_capability.h
@@ -41,6 +41,7 @@
 #include <moveit/planning_interface/planning_interface.h>
 #include <moveit/plan_execution/plan_representation.h>
 #include <moveit/move_group/move_group_context.h>
+#include <moveit/move_group/visibility_control.hpp>
 
 namespace move_group
 {
@@ -54,7 +55,7 @@ enum MoveGroupState
 
 MOVEIT_CLASS_FORWARD(MoveGroupCapability)  // Defines MoveGroupCapabilityPtr, ConstPtr, WeakPtr... etc
 
-class MoveGroupCapability
+class MOVE_GROUP_PUBLIC MoveGroupCapability
 {
 public:
   MoveGroupCapability(const std::string& capability_name) : capability_name_(capability_name)
diff --git a/moveit_ros/move_group/include/moveit/move_group/visibility_control.hpp b/moveit_ros/move_group/include/moveit/move_group/visibility_control.hpp
new file mode 100644
index 0000000000..64065b4afa
--- /dev/null
+++ b/moveit_ros/move_group/include/moveit/move_group/visibility_control.hpp
@@ -0,0 +1,72 @@
+// Copyright (c) 2019, Open Source Robotics Foundation, Inc.
+// All rights reserved.
+//
+// Software License Agreement (BSD License 2.0)
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * Redistributions in binary form must reproduce the above
+//    copyright notice, this list of conditions and the following
+//    disclaimer in the documentation and/or other materials provided
+//    with the distribution.
+//  * Neither the name of Open Source Robotics Foundation, Inc. nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MOVE_GROUP__VISIBILITY_CONTROL_HPP_
+#define MOVE_GROUP__VISIBILITY_CONTROL_HPP_
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+// clang-format off
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define MOVE_GROUP_EXPORT __attribute__ ((dllexport))
+    #define MOVE_GROUP_IMPORT __attribute__ ((dllimport))
+  #else
+    #define MOVE_GROUP_EXPORT __declspec(dllexport)
+    #define MOVE_GROUP_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef MOVE_GROUP_BUILDING_LIBRARY
+    #define MOVE_GROUP_PUBLIC MOVE_GROUP_EXPORT
+  #else
+    #define MOVE_GROUP_PUBLIC MOVE_GROUP_IMPORT
+  #endif
+  #define MOVE_GROUP_PUBLIC_TYPE MOVE_GROUP_PUBLIC
+  #define MOVE_GROUP_LOCAL
+#else
+  #define MOVE_GROUP_EXPORT __attribute__ ((visibility("default")))
+  #define MOVE_GROUP_IMPORT
+  #if __GNUC__ >= 4
+    #define MOVE_GROUP_PUBLIC __attribute__ ((visibility("default")))
+    #define MOVE_GROUP_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define MOVE_GROUP_PUBLIC
+    #define MOVE_GROUP_LOCAL
+  #endif
+  #define MOVE_GROUP_PUBLIC_TYPE
+#endif
+
+// clang-format on
+#endif  // MOVE_GROUP__VISIBILITY_CONTROL_HPP_
\ No newline at end of file
diff --git a/moveit_ros/planning/planning_pipeline/CMakeLists.txt b/moveit_ros/planning/planning_pipeline/CMakeLists.txt
index 3ef0122175..d7d988b1eb 100644
--- a/moveit_ros/planning/planning_pipeline/CMakeLists.txt
+++ b/moveit_ros/planning/planning_pipeline/CMakeLists.txt
@@ -3,6 +3,10 @@ set(MOVEIT_LIB_NAME moveit_planning_pipeline)
 add_library(${MOVEIT_LIB_NAME} SHARED src/planning_pipeline.cpp)
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(${MOVEIT_LIB_NAME} PRIVATE "PLANNING_PIPELINE_BUILDING_LIBRARY")
+
 ament_target_dependencies(${MOVEIT_LIB_NAME}
   moveit_core
   moveit_msgs
diff --git a/moveit_ros/planning/planning_pipeline/include/moveit/planning_pipeline/planning_pipeline.h b/moveit_ros/planning/planning_pipeline/include/moveit/planning_pipeline/planning_pipeline.h
index edf3bfa298..b50b268f54 100644
--- a/moveit_ros/planning/planning_pipeline/include/moveit/planning_pipeline/planning_pipeline.h
+++ b/moveit_ros/planning/planning_pipeline/include/moveit/planning_pipeline/planning_pipeline.h
@@ -42,6 +42,7 @@
 #include <rclcpp/rclcpp.hpp>
 #include <moveit_msgs/msg/display_trajectory.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
+#include <moveit/planning_pipeline/visibility_control.hpp>
 
 #include <memory>
 
@@ -59,15 +60,15 @@ class PlanningPipeline
 public:
   /** \brief When motion plans are computed and they are supposed to be automatically displayed, they are sent to this
    * topic (moveit_msgs::msg::DisplauTrajectory) */
-  static const std::string DISPLAY_PATH_TOPIC;
+  PLANNING_PIPELINE_PUBLIC static const std::string DISPLAY_PATH_TOPIC;
 
   /** \brief When motion planning requests are received and they are supposed to be automatically published, they are
    * sent to this topic (moveit_msgs::msg::MotionPlanRequest) */
-  static const std::string MOTION_PLAN_REQUEST_TOPIC;
+  PLANNING_PIPELINE_PUBLIC static const std::string MOTION_PLAN_REQUEST_TOPIC;
 
   /** \brief When contacts are found in the solution path reported by a planner, they can be published as markers on
    * this topic (visualization_msgs::MarkerArray) */
-  static const std::string MOTION_CONTACTS_TOPIC;
+  PLANNING_PIPELINE_PUBLIC static const std::string MOTION_CONTACTS_TOPIC;
 
   /** \brief Given a robot model (\e model), a node handle (\e nh), initialize the planning pipeline.
       \param model The robot model for which this pipeline is initialized.
diff --git a/moveit_ros/planning/planning_pipeline/include/moveit/planning_pipeline/visibility_control.hpp b/moveit_ros/planning/planning_pipeline/include/moveit/planning_pipeline/visibility_control.hpp
new file mode 100644
index 0000000000..0da8614141
--- /dev/null
+++ b/moveit_ros/planning/planning_pipeline/include/moveit/planning_pipeline/visibility_control.hpp
@@ -0,0 +1,72 @@
+// Copyright (c) 2019, Open Source Robotics Foundation, Inc.
+// All rights reserved.
+//
+// Software License Agreement (BSD License 2.0)
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * Redistributions in binary form must reproduce the above
+//    copyright notice, this list of conditions and the following
+//    disclaimer in the documentation and/or other materials provided
+//    with the distribution.
+//  * Neither the name of Open Source Robotics Foundation, Inc. nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef PLANNING_PIPELINE__VISIBILITY_CONTROL_HPP_
+#define PLANNING_PIPELINE__VISIBILITY_CONTROL_HPP_
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+// clang-format off
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define PLANNING_PIPELINE_EXPORT __attribute__ ((dllexport))
+    #define PLANNING_PIPELINE_IMPORT __attribute__ ((dllimport))
+  #else
+    #define PLANNING_PIPELINE_EXPORT __declspec(dllexport)
+    #define PLANNING_PIPELINE_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef PLANNING_PIPELINE_BUILDING_LIBRARY
+    #define PLANNING_PIPELINE_PUBLIC PLANNING_PIPELINE_EXPORT
+  #else
+    #define PLANNING_PIPELINE_PUBLIC PLANNING_PIPELINE_IMPORT
+  #endif
+  #define PLANNING_PIPELINE_PUBLIC_TYPE PLANNING_PIPELINE_PUBLIC
+  #define PLANNING_PIPELINE_LOCAL
+#else
+  #define PLANNING_PIPELINE_EXPORT __attribute__ ((visibility("default")))
+  #define PLANNING_PIPELINE_IMPORT
+  #if __GNUC__ >= 4
+    #define PLANNING_PIPELINE_PUBLIC __attribute__ ((visibility("default")))
+    #define PLANNING_PIPELINE_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define PLANNING_PIPELINE_PUBLIC
+    #define PLANNING_PIPELINE_LOCAL
+  #endif
+  #define PLANNING_PIPELINE_PUBLIC_TYPE
+#endif
+
+// clang-format on
+#endif  // PLANNING_PIPELINE__VISIBILITY_CONTROL_HPP_
\ No newline at end of file
diff --git a/moveit_ros/planning/planning_scene_monitor/CMakeLists.txt b/moveit_ros/planning/planning_scene_monitor/CMakeLists.txt
index 36566283b8..c92d171286 100644
--- a/moveit_ros/planning/planning_scene_monitor/CMakeLists.txt
+++ b/moveit_ros/planning/planning_scene_monitor/CMakeLists.txt
@@ -31,6 +31,10 @@ ament_target_dependencies(demo_scene
 )
 target_link_libraries(demo_scene ${MOVEIT_LIB_NAME})
 
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(${MOVEIT_LIB_NAME} PRIVATE "PLANNING_SCENE_MONITOR_BUILDING_LIBRARY")
+
 install(TARGETS ${MOVEIT_LIB_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
diff --git a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h
index d4a820418f..fc7eaeb6d2 100644
--- a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h
+++ b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h
@@ -45,6 +45,7 @@
 #include <moveit/occupancy_map_monitor/occupancy_map_monitor.h>
 #include <moveit/planning_scene_monitor/current_state_monitor.h>
 #include <moveit/collision_plugin_loader/collision_plugin_loader.h>
+#include <moveit/planning_scene_monitor/visibility_control.hpp>
 #include <moveit_msgs/srv/get_planning_scene.hpp>
 #include <boost/noncopyable.hpp>
 #include <boost/thread/shared_mutex.hpp>
@@ -59,7 +60,7 @@ MOVEIT_CLASS_FORWARD(PlanningSceneMonitor)  // Defines PlanningSceneMonitorPtr,
 /**
  * @brief PlanningSceneMonitor
  * Subscribes to the topic \e planning_scene */
-class PlanningSceneMonitor : private boost::noncopyable
+class PLANNING_SCENE_MONITOR_PUBLIC PlanningSceneMonitor : private boost::noncopyable
 {
 public:
   enum SceneUpdateType
diff --git a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/visibility_control.hpp b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/visibility_control.hpp
new file mode 100644
index 0000000000..e28e847a82
--- /dev/null
+++ b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/visibility_control.hpp
@@ -0,0 +1,72 @@
+// Copyright (c) 2019, Open Source Robotics Foundation, Inc.
+// All rights reserved.
+//
+// Software License Agreement (BSD License 2.0)
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * Redistributions in binary form must reproduce the above
+//    copyright notice, this list of conditions and the following
+//    disclaimer in the documentation and/or other materials provided
+//    with the distribution.
+//  * Neither the name of Open Source Robotics Foundation, Inc. nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef PLANNING_SCENE_MONITOR__VISIBILITY_CONTROL_HPP_
+#define PLANNING_SCENE_MONITOR__VISIBILITY_CONTROL_HPP_
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+// clang-format off
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define PLANNING_SCENE_MONITOR_EXPORT __attribute__ ((dllexport))
+    #define PLANNING_SCENE_MONITOR_IMPORT __attribute__ ((dllimport))
+  #else
+    #define PLANNING_SCENE_MONITOR_EXPORT __declspec(dllexport)
+    #define PLANNING_SCENE_MONITOR_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef PLANNING_SCENE_MONITOR_BUILDING_LIBRARY
+    #define PLANNING_SCENE_MONITOR_PUBLIC PLANNING_SCENE_MONITOR_EXPORT
+  #else
+    #define PLANNING_SCENE_MONITOR_PUBLIC PLANNING_SCENE_MONITOR_IMPORT
+  #endif
+  #define PLANNING_SCENE_MONITOR_PUBLIC_TYPE PLANNING_SCENE_MONITOR_PUBLIC
+  #define PLANNING_SCENE_MONITOR_LOCAL
+#else
+  #define PLANNING_SCENE_MONITOR_EXPORT __attribute__ ((visibility("default")))
+  #define PLANNING_SCENE_MONITOR_IMPORT
+  #if __GNUC__ >= 4
+    #define PLANNING_SCENE_MONITOR_PUBLIC __attribute__ ((visibility("default")))
+    #define PLANNING_SCENE_MONITOR_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define PLANNING_SCENE_MONITOR_PUBLIC
+    #define PLANNING_SCENE_MONITOR_LOCAL
+  #endif
+  #define PLANNING_SCENE_MONITOR_PUBLIC_TYPE
+#endif
+
+// clang-format on
+#endif  // PLANNING_SCENE_MONITOR__VISIBILITY_CONTROL_HPP_
\ No newline at end of file
diff --git a/moveit_ros/planning/trajectory_execution_manager/CMakeLists.txt b/moveit_ros/planning/trajectory_execution_manager/CMakeLists.txt
index cbd701ea71..9a9ee0424f 100644
--- a/moveit_ros/planning/trajectory_execution_manager/CMakeLists.txt
+++ b/moveit_ros/planning/trajectory_execution_manager/CMakeLists.txt
@@ -18,6 +18,10 @@ target_link_libraries(${MOVEIT_LIB_NAME}
   moveit_planning_scene_monitor
 )
 
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(${MOVEIT_LIB_NAME} PRIVATE "TRAJECTORY_EXECUTION_MANAGER_BUILDING_LIBRARY")
+
 install(TARGETS ${MOVEIT_LIB_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
diff --git a/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h b/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h
index e35164c9be..2112a48c44 100644
--- a/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h
+++ b/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h
@@ -40,6 +40,7 @@
 #include <moveit/robot_model/robot_model.h>
 #include <moveit/planning_scene_monitor/current_state_monitor.h>
 #include <moveit_msgs/msg/robot_trajectory.hpp>
+#include <moveit/trajectory_execution_manager/visibility_control.hpp>
 #include <sensor_msgs/msg/joint_state.hpp>
 #include <std_msgs/msg/string.hpp>
 #include <rclcpp/rclcpp.hpp>
@@ -59,7 +60,7 @@ MOVEIT_CLASS_FORWARD(TrajectoryExecutionManager)  // Defines TrajectoryExecution
 class TrajectoryExecutionManager
 {
 public:
-  static const std::string EXECUTION_EVENT_TOPIC;
+  TRAJECTORY_EXECUTION_MANAGER_PUBLIC static const std::string EXECUTION_EVENT_TOPIC;
 
   /// Definition of the function signature that is called when the execution of all the pushed trajectories completes.
   /// The status of the overall execution is passed as argument
diff --git a/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/visibility_control.hpp b/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/visibility_control.hpp
new file mode 100644
index 0000000000..9eefc78833
--- /dev/null
+++ b/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/visibility_control.hpp
@@ -0,0 +1,72 @@
+// Copyright (c) 2019, Open Source Robotics Foundation, Inc.
+// All rights reserved.
+//
+// Software License Agreement (BSD License 2.0)
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * Redistributions in binary form must reproduce the above
+//    copyright notice, this list of conditions and the following
+//    disclaimer in the documentation and/or other materials provided
+//    with the distribution.
+//  * Neither the name of Open Source Robotics Foundation, Inc. nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef TRAJECTORY_EXECUTION_MANAGER__VISIBILITY_CONTROL_HPP_
+#define TRAJECTORY_EXECUTION_MANAGER__VISIBILITY_CONTROL_HPP_
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+// clang-format off
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define TRAJECTORY_EXECUTION_MANAGER_EXPORT __attribute__ ((dllexport))
+    #define TRAJECTORY_EXECUTION_MANAGER_IMPORT __attribute__ ((dllimport))
+  #else
+    #define TRAJECTORY_EXECUTION_MANAGER_EXPORT __declspec(dllexport)
+    #define TRAJECTORY_EXECUTION_MANAGER_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef TRAJECTORY_EXECUTION_MANAGER_BUILDING_LIBRARY
+    #define TRAJECTORY_EXECUTION_MANAGER_PUBLIC TRAJECTORY_EXECUTION_MANAGER_EXPORT
+  #else
+    #define TRAJECTORY_EXECUTION_MANAGER_PUBLIC TRAJECTORY_EXECUTION_MANAGER_IMPORT
+  #endif
+  #define TRAJECTORY_EXECUTION_MANAGER_PUBLIC_TYPE TRAJECTORY_EXECUTION_MANAGER_PUBLIC
+  #define TRAJECTORY_EXECUTION_MANAGER_LOCAL
+#else
+  #define TRAJECTORY_EXECUTION_MANAGER_EXPORT __attribute__ ((visibility("default")))
+  #define TRAJECTORY_EXECUTION_MANAGER_IMPORT
+  #if __GNUC__ >= 4
+    #define TRAJECTORY_EXECUTION_MANAGER_PUBLIC __attribute__ ((visibility("default")))
+    #define TRAJECTORY_EXECUTION_MANAGER_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define TRAJECTORY_EXECUTION_MANAGER_PUBLIC
+    #define TRAJECTORY_EXECUTION_MANAGER_LOCAL
+  #endif
+  #define TRAJECTORY_EXECUTION_MANAGER_PUBLIC_TYPE
+#endif
+
+// clang-format on
+#endif  // TRAJECTORY_EXECUTION_MANAGER__VISIBILITY_CONTROL_HPP_
\ No newline at end of file
diff --git a/moveit_ros/planning_interface/move_group_interface/CMakeLists.txt b/moveit_ros/planning_interface/move_group_interface/CMakeLists.txt
index 7fef2462e2..0aa85f1399 100644
--- a/moveit_ros/planning_interface/move_group_interface/CMakeLists.txt
+++ b/moveit_ros/planning_interface/move_group_interface/CMakeLists.txt
@@ -22,6 +22,10 @@ if(WIN32)
 #  set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES SUFFIX .pyd)
 endif()
 
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(${MOVEIT_LIB_NAME} PRIVATE "MOVE_GROUP_INTERFACE_BUILDING_LIBRARY")
+
 install(TARGETS ${MOVEIT_LIB_NAME}
   EXPORT ${MOVEIT_LIB_NAME}
   ARCHIVE DESTINATION lib
diff --git a/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h b/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
index 3d12582654..a35d446b15 100644
--- a/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
+++ b/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
@@ -39,6 +39,7 @@
 
 #include <moveit/macros/class_forward.h>
 #include <moveit/robot_state/robot_state.h>
+#include <moveit/move_group_interface/visibility_control.hpp>
 #include <moveit_msgs/msg/robot_trajectory.hpp>
 #include <moveit_msgs/msg/robot_state.hpp>
 #include <moveit_msgs/msg/planner_interface_description.hpp>
@@ -105,7 +106,7 @@ class MoveGroupInterface
 {
 public:
   /** \brief Default ROS parameter name from where to read the robot's URDF. Set to 'robot_description' */
-  static const std::string ROBOT_DESCRIPTION;
+  MOVE_GROUP_INTERFACE_PUBLIC static const std::string ROBOT_DESCRIPTION;
 
   /** \brief Specification of options to use when constructing the MoveGroupInterface class */
   struct Options
diff --git a/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/visibility_control.hpp b/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/visibility_control.hpp
new file mode 100644
index 0000000000..a261941aa4
--- /dev/null
+++ b/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/visibility_control.hpp
@@ -0,0 +1,72 @@
+// Copyright (c) 2019, Open Source Robotics Foundation, Inc.
+// All rights reserved.
+//
+// Software License Agreement (BSD License 2.0)
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * Redistributions in binary form must reproduce the above
+//    copyright notice, this list of conditions and the following
+//    disclaimer in the documentation and/or other materials provided
+//    with the distribution.
+//  * Neither the name of Open Source Robotics Foundation, Inc. nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MOVE_GROUP_INTERFACE__VISIBILITY_CONTROL_HPP_
+#define MOVE_GROUP_INTERFACE__VISIBILITY_CONTROL_HPP_
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+// clang-format off
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define MOVE_GROUP_INTERFACE_EXPORT __attribute__ ((dllexport))
+    #define MOVE_GROUP_INTERFACE_IMPORT __attribute__ ((dllimport))
+  #else
+    #define MOVE_GROUP_INTERFACE_EXPORT __declspec(dllexport)
+    #define MOVE_GROUP_INTERFACE_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef MOVE_GROUP_INTERFACE_BUILDING_LIBRARY
+    #define MOVE_GROUP_INTERFACE_PUBLIC MOVE_GROUP_INTERFACE_EXPORT
+  #else
+    #define MOVE_GROUP_INTERFACE_PUBLIC MOVE_GROUP_INTERFACE_IMPORT
+  #endif
+  #define MOVE_GROUP_INTERFACE_PUBLIC_TYPE MOVE_GROUP_INTERFACE_PUBLIC
+  #define MOVE_GROUP_INTERFACE_LOCAL
+#else
+  #define MOVE_GROUP_INTERFACE_EXPORT __attribute__ ((visibility("default")))
+  #define MOVE_GROUP_INTERFACE_IMPORT
+  #if __GNUC__ >= 4
+    #define MOVE_GROUP_INTERFACE_PUBLIC __attribute__ ((visibility("default")))
+    #define MOVE_GROUP_INTERFACE_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define MOVE_GROUP_INTERFACE_PUBLIC
+    #define MOVE_GROUP_INTERFACE_LOCAL
+  #endif
+  #define MOVE_GROUP_INTERFACE_PUBLIC_TYPE
+#endif
+
+// clang-format on
+#endif  // MOVE_GROUP_INTERFACE__VISIBILITY_CONTROL_HPP_
\ No newline at end of file
diff --git a/moveit_ros/robot_interaction/CMakeLists.txt b/moveit_ros/robot_interaction/CMakeLists.txt
index ba10e6ce0c..710aa53078 100644
--- a/moveit_ros/robot_interaction/CMakeLists.txt
+++ b/moveit_ros/robot_interaction/CMakeLists.txt
@@ -42,6 +42,10 @@ if(BUILD_TESTING)
     Boost)
 endif()
 
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(${MOVEIT_LIB_NAME} PRIVATE "ROBOT_INTERACTION_BUILDING_LIBRARY")
+
 install(TARGETS ${MOVEIT_LIB_NAME}
         LIBRARY DESTINATION lib
         ARCHIVE DESTINATION lib
diff --git a/moveit_ros/robot_interaction/include/moveit/robot_interaction/kinematic_options_map.h b/moveit_ros/robot_interaction/include/moveit/robot_interaction/kinematic_options_map.h
index 12a9c9203d..5674d46e3d 100644
--- a/moveit_ros/robot_interaction/include/moveit/robot_interaction/kinematic_options_map.h
+++ b/moveit_ros/robot_interaction/include/moveit/robot_interaction/kinematic_options_map.h
@@ -37,6 +37,7 @@
 #pragma once
 
 #include <moveit/robot_interaction/kinematic_options.h>
+#include <moveit/robot_interaction/visibility_control.hpp>
 #include <boost/thread.hpp>
 #include <boost/function.hpp>
 
@@ -44,7 +45,7 @@ namespace robot_interaction
 {
 // Maintains a set of KinematicOptions with a key/value mapping and a default
 // value.
-class KinematicOptionsMap
+class ROBOT_INTERACTION_PUBLIC KinematicOptionsMap
 {
 public:
   /// Constructor - set all options to reasonable default values.
diff --git a/moveit_ros/robot_interaction/include/moveit/robot_interaction/visibility_control.hpp b/moveit_ros/robot_interaction/include/moveit/robot_interaction/visibility_control.hpp
new file mode 100644
index 0000000000..cfa6a9b327
--- /dev/null
+++ b/moveit_ros/robot_interaction/include/moveit/robot_interaction/visibility_control.hpp
@@ -0,0 +1,72 @@
+// Copyright (c) 2019, Open Source Robotics Foundation, Inc.
+// All rights reserved.
+//
+// Software License Agreement (BSD License 2.0)
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * Redistributions in binary form must reproduce the above
+//    copyright notice, this list of conditions and the following
+//    disclaimer in the documentation and/or other materials provided
+//    with the distribution.
+//  * Neither the name of Open Source Robotics Foundation, Inc. nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef ROBOT_INTERACTION__VISIBILITY_CONTROL_HPP_
+#define ROBOT_INTERACTION__VISIBILITY_CONTROL_HPP_
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+// clang-format off
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define ROBOT_INTERACTION_EXPORT __attribute__ ((dllexport))
+    #define ROBOT_INTERACTION_IMPORT __attribute__ ((dllimport))
+  #else
+    #define ROBOT_INTERACTION_EXPORT __declspec(dllexport)
+    #define ROBOT_INTERACTION_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef ROBOT_INTERACTION_BUILDING_LIBRARY
+    #define ROBOT_INTERACTION_PUBLIC ROBOT_INTERACTION_EXPORT
+  #else
+    #define ROBOT_INTERACTION_PUBLIC ROBOT_INTERACTION_IMPORT
+  #endif
+  #define ROBOT_INTERACTION_PUBLIC_TYPE ROBOT_INTERACTION_PUBLIC
+  #define ROBOT_INTERACTION_LOCAL
+#else
+  #define ROBOT_INTERACTION_EXPORT __attribute__ ((visibility("default")))
+  #define ROBOT_INTERACTION_IMPORT
+  #if __GNUC__ >= 4
+    #define ROBOT_INTERACTION_PUBLIC __attribute__ ((visibility("default")))
+    #define ROBOT_INTERACTION_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define ROBOT_INTERACTION_PUBLIC
+    #define ROBOT_INTERACTION_LOCAL
+  #endif
+  #define ROBOT_INTERACTION_PUBLIC_TYPE
+#endif
+
+// clang-format on
+#endif  // ROBOT_INTERACTION__VISIBILITY_CONTROL_HPP_
\ No newline at end of file
diff --git a/moveit_ros/visualization/planning_scene_rviz_plugin/CMakeLists.txt b/moveit_ros/visualization/planning_scene_rviz_plugin/CMakeLists.txt
index 7307aa383c..99c9bc395d 100644
--- a/moveit_ros/visualization/planning_scene_rviz_plugin/CMakeLists.txt
+++ b/moveit_ros/visualization/planning_scene_rviz_plugin/CMakeLists.txt
@@ -26,6 +26,10 @@ ament_target_dependencies(${MOVEIT_LIB_NAME}
 )
 target_include_directories(${MOVEIT_LIB_NAME} PRIVATE "${OGRE_PREFIX_DIR}/include")
 
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(${MOVEIT_LIB_NAME}_core PRIVATE "PLANNING_SCENE_RVIZ_PLUGIN_BUILDING_LIBRARY")
+
 install(DIRECTORY include/ DESTINATION include)
 
 install(TARGETS ${MOVEIT_LIB_NAME}_core ${MOVEIT_LIB_NAME}
diff --git a/moveit_ros/visualization/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.h b/moveit_ros/visualization/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.h
index 7447ab81bb..a87ac33365 100644
--- a/moveit_ros/visualization/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.h
+++ b/moveit_ros/visualization/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.h
@@ -40,6 +40,7 @@
 #include <rviz_default_plugins/robot/robot.hpp>
 #include <rviz_common/properties/string_property.hpp>
 #include <rviz_common/properties/ros_topic_property.hpp>
+#include <moveit/planning_scene_rviz_plugin/visibility_control.hpp>
 #ifndef Q_MOC_RUN
 #include <moveit/rviz_plugin_render_tools/planning_scene_render.h>
 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
diff --git a/moveit_ros/visualization/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/visibility_control.hpp b/moveit_ros/visualization/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/visibility_control.hpp
new file mode 100644
index 0000000000..f0207458be
--- /dev/null
+++ b/moveit_ros/visualization/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/visibility_control.hpp
@@ -0,0 +1,72 @@
+// Copyright (c) 2019, Open Source Robotics Foundation, Inc.
+// All rights reserved.
+//
+// Software License Agreement (BSD License 2.0)
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * Redistributions in binary form must reproduce the above
+//    copyright notice, this list of conditions and the following
+//    disclaimer in the documentation and/or other materials provided
+//    with the distribution.
+//  * Neither the name of Open Source Robotics Foundation, Inc. nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef PLANNING_SCENE_RVIZ_PLUGIN__VISIBILITY_CONTROL_HPP_
+#define PLANNING_SCENE_RVIZ_PLUGIN__VISIBILITY_CONTROL_HPP_
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+// clang-format off
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define PLANNING_SCENE_RVIZ_PLUGIN_EXPORT __attribute__ ((dllexport))
+    #define PLANNING_SCENE_RVIZ_PLUGIN_IMPORT __attribute__ ((dllimport))
+  #else
+    #define PLANNING_SCENE_RVIZ_PLUGIN_EXPORT __declspec(dllexport)
+    #define PLANNING_SCENE_RVIZ_PLUGIN_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef PLANNING_SCENE_RVIZ_PLUGIN_BUILDING_LIBRARY
+    #define PLANNING_SCENE_RVIZ_PLUGIN_PUBLIC PLANNING_SCENE_RVIZ_PLUGIN_EXPORT
+  #else
+    #define PLANNING_SCENE_RVIZ_PLUGIN_PUBLIC PLANNING_SCENE_RVIZ_PLUGIN_IMPORT
+  #endif
+  #define PLANNING_SCENE_RVIZ_PLUGIN_PUBLIC_TYPE PLANNING_SCENE_RVIZ_PLUGIN_PUBLIC
+  #define PLANNING_SCENE_RVIZ_PLUGIN_LOCAL
+#else
+  #define PLANNING_SCENE_RVIZ_PLUGIN_EXPORT __attribute__ ((visibility("default")))
+  #define PLANNING_SCENE_RVIZ_PLUGIN_IMPORT
+  #if __GNUC__ >= 4
+    #define PLANNING_SCENE_RVIZ_PLUGIN_PUBLIC __attribute__ ((visibility("default")))
+    #define PLANNING_SCENE_RVIZ_PLUGIN_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define PLANNING_SCENE_RVIZ_PLUGIN_PUBLIC
+    #define PLANNING_SCENE_RVIZ_PLUGIN_LOCAL
+  #endif
+  #define PLANNING_SCENE_RVIZ_PLUGIN_PUBLIC_TYPE
+#endif
+
+// clang-format on
+#endif  // PLANNING_SCENE_RVIZ_PLUGIN__VISIBILITY_CONTROL_HPP_
\ No newline at end of file