diff --git a/demo_nodes_cpp/CMakeLists.txt b/demo_nodes_cpp/CMakeLists.txt
index 3f1f28a7b..349dad3f1 100644
--- a/demo_nodes_cpp/CMakeLists.txt
+++ b/demo_nodes_cpp/CMakeLists.txt
@@ -11,8 +11,6 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
-
 find_package(ament_cmake REQUIRED)
 find_package(example_interfaces REQUIRED)
 find_package(rclcpp REQUIRED)
@@ -21,6 +19,8 @@ find_package(rcutils)
 find_package(rmw REQUIRED)
 find_package(std_msgs REQUIRED)
 
+include_directories(include)
+
 function(custom_executable subfolder target)
   add_executable(${target} src/${subfolder}/${target}.cpp)
   ament_target_dependencies(${target}
@@ -33,6 +33,8 @@ function(custom_executable subfolder target)
 endfunction()
 
 function(add_dependencies library)
+  target_compile_definitions(${library}
+    PRIVATE "DEMO_NODES_CPP_BUILDING_DLL")
   ament_target_dependencies(${library}
     "example_interfaces"
     "rclcpp"
diff --git a/demo_nodes_cpp/include/demo_nodes_cpp/visibility_control.h b/demo_nodes_cpp/include/demo_nodes_cpp/visibility_control.h
new file mode 100644
index 000000000..d9f8d4233
--- /dev/null
+++ b/demo_nodes_cpp/include/demo_nodes_cpp/visibility_control.h
@@ -0,0 +1,58 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// 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 DEMO_NODES_CPP__VISIBILITY_CONTROL_H_
+#define DEMO_NODES_CPP__VISIBILITY_CONTROL_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define DEMO_NODES_CPP_EXPORT __attribute__ ((dllexport))
+    #define DEMO_NODES_CPP_IMPORT __attribute__ ((dllimport))
+  #else
+    #define DEMO_NODES_CPP_EXPORT __declspec(dllexport)
+    #define DEMO_NODES_CPP_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef DEMO_NODES_CPP_BUILDING_DLL
+    #define DEMO_NODES_CPP_PUBLIC DEMO_NODES_CPP_EXPORT
+  #else
+    #define DEMO_NODES_CPP_PUBLIC DEMO_NODES_CPP_IMPORT
+  #endif
+  #define DEMO_NODES_CPP_PUBLIC_TYPE DEMO_NODES_CPP_PUBLIC
+  #define DEMO_NODES_CPP_LOCAL
+#else
+  #define DEMO_NODES_CPP_EXPORT __attribute__ ((visibility("default")))
+  #define DEMO_NODES_CPP_IMPORT
+  #if __GNUC__ >= 4
+    #define DEMO_NODES_CPP_PUBLIC __attribute__ ((visibility("default")))
+    #define DEMO_NODES_CPP_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define DEMO_NODES_CPP_PUBLIC
+    #define DEMO_NODES_CPP_LOCAL
+  #endif
+  #define DEMO_NODES_CPP_PUBLIC_TYPE
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // DEMO_NODES_CPP__VISIBILITY_CONTROL_H_
diff --git a/demo_nodes_cpp/src/parameters/even_parameters_node.cpp b/demo_nodes_cpp/src/parameters/even_parameters_node.cpp
index fe98ef210..24dc3e0c1 100644
--- a/demo_nodes_cpp/src/parameters/even_parameters_node.cpp
+++ b/demo_nodes_cpp/src/parameters/even_parameters_node.cpp
@@ -18,11 +18,14 @@
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_components/register_node_macro.hpp"
 
+#include "demo_nodes_cpp/visibility_control.h"
+
 namespace demo_nodes_cpp
 {
 class EvenParameterNode : public rclcpp::Node
 {
 public:
+  DEMO_NODES_CPP_PUBLIC
   explicit EvenParameterNode(const rclcpp::NodeOptions options)
   : Node("even_parameters_node", options)
   {
diff --git a/demo_nodes_cpp/src/parameters/list_parameters.cpp b/demo_nodes_cpp/src/parameters/list_parameters.cpp
index e2e272903..257892de8 100644
--- a/demo_nodes_cpp/src/parameters/list_parameters.cpp
+++ b/demo_nodes_cpp/src/parameters/list_parameters.cpp
@@ -18,6 +18,8 @@
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_components/register_node_macro.hpp"
 
+#include "demo_nodes_cpp/visibility_control.h"
+
 using namespace std::chrono_literals;
 
 namespace demo_nodes_cpp
@@ -26,6 +28,7 @@ namespace demo_nodes_cpp
 class ListParameters : public rclcpp::Node
 {
 public:
+  DEMO_NODES_CPP_PUBLIC
   explicit ListParameters(const rclcpp::NodeOptions & options)
   : Node("list_paramters", options)
   {
diff --git a/demo_nodes_cpp/src/parameters/parameter_blackboard.cpp b/demo_nodes_cpp/src/parameters/parameter_blackboard.cpp
index 0593119fa..8e4dc94ac 100644
--- a/demo_nodes_cpp/src/parameters/parameter_blackboard.cpp
+++ b/demo_nodes_cpp/src/parameters/parameter_blackboard.cpp
@@ -19,12 +19,15 @@
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_components/register_node_macro.hpp"
 
+#include "demo_nodes_cpp/visibility_control.h"
+
 namespace demo_nodes_cpp
 {
 
 class ParameterBlackboard : public rclcpp::Node
 {
 public:
+  DEMO_NODES_CPP_PUBLIC
   explicit ParameterBlackboard(
     const rclcpp::NodeOptions & options = (
       rclcpp::NodeOptions()
diff --git a/demo_nodes_cpp/src/parameters/parameter_events_async.cpp b/demo_nodes_cpp/src/parameters/parameter_events_async.cpp
index 0a84583a9..a5a2848e7 100644
--- a/demo_nodes_cpp/src/parameters/parameter_events_async.cpp
+++ b/demo_nodes_cpp/src/parameters/parameter_events_async.cpp
@@ -20,6 +20,8 @@
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_components/register_node_macro.hpp"
 
+#include "demo_nodes_cpp/visibility_control.h"
+
 using namespace std::chrono_literals;
 using SetParametersResult =
   std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult>>;
@@ -28,6 +30,7 @@ namespace demo_nodes_cpp
 class ParameterEventsAsyncNode : public rclcpp::Node
 {
 public:
+  DEMO_NODES_CPP_PUBLIC
   explicit ParameterEventsAsyncNode(const rclcpp::NodeOptions & options)
   : Node("parameter_events", options)
   {
@@ -74,7 +77,9 @@ class ParameterEventsAsyncNode : public rclcpp::Node
         });
   }
 
+private:
   // Set several different types of parameters.
+  DEMO_NODES_CPP_LOCAL
   void queue_first_set_parameter_request()
   {
     timer_->cancel();  // Prevent another request from being queued by the timer.
@@ -105,6 +110,7 @@ class ParameterEventsAsyncNode : public rclcpp::Node
   }
 
   // Change the value of some of them.
+  DEMO_NODES_CPP_LOCAL
   void queue_second_set_parameter_request()
   {
     auto response_received_callback = [this](SetParametersResult future) {
@@ -128,7 +134,6 @@ class ParameterEventsAsyncNode : public rclcpp::Node
       }, response_received_callback);
   }
 
-private:
   rclcpp::AsyncParametersClient::SharedPtr parameters_client_;
   rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr parameter_event_sub_;
   rclcpp::TimerBase::SharedPtr timer_;
diff --git a/demo_nodes_cpp/src/parameters/set_and_get_parameters.cpp b/demo_nodes_cpp/src/parameters/set_and_get_parameters.cpp
index 80b7aba5a..d470dd078 100644
--- a/demo_nodes_cpp/src/parameters/set_and_get_parameters.cpp
+++ b/demo_nodes_cpp/src/parameters/set_and_get_parameters.cpp
@@ -19,6 +19,8 @@
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_components/register_node_macro.hpp"
 
+#include "demo_nodes_cpp/visibility_control.h"
+
 using namespace std::chrono_literals;
 
 namespace demo_nodes_cpp
@@ -27,6 +29,7 @@ namespace demo_nodes_cpp
 class SetAndGetParameters : public rclcpp::Node
 {
 public:
+  DEMO_NODES_CPP_PUBLIC
   explicit SetAndGetParameters(const rclcpp::NodeOptions & options)
   : Node("set_and_get_parameters", options)
   {
diff --git a/demo_nodes_cpp/src/services/add_two_ints_client_async.cpp b/demo_nodes_cpp/src/services/add_two_ints_client_async.cpp
index 69e992038..3164b07e4 100644
--- a/demo_nodes_cpp/src/services/add_two_ints_client_async.cpp
+++ b/demo_nodes_cpp/src/services/add_two_ints_client_async.cpp
@@ -25,6 +25,8 @@
 
 #include "example_interfaces/srv/add_two_ints.hpp"
 
+#include "demo_nodes_cpp/visibility_control.h"
+
 using namespace std::chrono_literals;
 
 namespace demo_nodes_cpp
@@ -32,6 +34,7 @@ namespace demo_nodes_cpp
 class ClientNode : public rclcpp::Node
 {
 public:
+  DEMO_NODES_CPP_PUBLIC
   explicit ClientNode(const rclcpp::NodeOptions & options)
   : Node("add_two_ints_client", options)
   {
@@ -50,6 +53,7 @@ class ClientNode : public rclcpp::Node
     }
   }
 
+  DEMO_NODES_CPP_PUBLIC
   void queue_async_request()
   {
     while (!client_->wait_for_service(1s)) {
@@ -77,6 +81,8 @@ class ClientNode : public rclcpp::Node
     auto future_result = client_->async_send_request(request, response_received_callback);
   }
 
+private:
+  DEMO_NODES_CPP_LOCAL
   void print_usage()
   {
     printf("Usage for add_two_ints_client app:\n");
@@ -86,11 +92,13 @@ class ClientNode : public rclcpp::Node
     printf("-s service_name : Specify the service name for client. Defaults to add_two_ints.\n");
   }
 
+  DEMO_NODES_CPP_LOCAL
   bool find_command_option(const std::vector<std::string> & args, const std::string & option)
   {
     return std::find(args.begin(), args.end(), option) != args.end();
   }
 
+  DEMO_NODES_CPP_LOCAL
   std::string get_command_option(const std::vector<std::string> & args, const std::string & option)
   {
     auto it = std::find(args.begin(), args.end(), option);
@@ -100,7 +108,6 @@ class ClientNode : public rclcpp::Node
     return std::string();
   }
 
-private:
   rclcpp::Client<example_interfaces::srv::AddTwoInts>::SharedPtr client_;
   std::string service_name_ = "add_two_ints";
 };
diff --git a/demo_nodes_cpp/src/services/add_two_ints_server.cpp b/demo_nodes_cpp/src/services/add_two_ints_server.cpp
index 647876ba0..1435cd19c 100644
--- a/demo_nodes_cpp/src/services/add_two_ints_server.cpp
+++ b/demo_nodes_cpp/src/services/add_two_ints_server.cpp
@@ -24,12 +24,15 @@
 
 #include "example_interfaces/srv/add_two_ints.hpp"
 
+#include "demo_nodes_cpp/visibility_control.h"
+
 namespace demo_nodes_cpp
 {
 
 class ServerNode : public rclcpp::Node
 {
 public:
+  DEMO_NODES_CPP_PUBLIC
   explicit ServerNode(const rclcpp::NodeOptions & options)
   : Node("add_two_ints_server", options)
   {
@@ -45,18 +48,9 @@ class ServerNode : public rclcpp::Node
       }
       execute();
     }
-    // Create a callback function for when service requests are received.
-  }
-
-  void print_usage()
-  {
-    printf("Uage for add_two_ints_server app:\n");
-    printf("add_two_ints_server [-s service_name] [-h]\n");
-    printf("options:\n");
-    printf("-h : Print this help function\n");
-    printf("-s service_name : Specify the service name for this sever. Defaults to add_two_ints\n");
   }
 
+  DEMO_NODES_CPP_PUBLIC
   void execute()
   {
     auto handle_add_two_ints =
@@ -73,11 +67,24 @@ class ServerNode : public rclcpp::Node
     srv_ = create_service<example_interfaces::srv::AddTwoInts>(service_name_, handle_add_two_ints);
   }
 
+private:
+  DEMO_NODES_CPP_LOCAL
+  void print_usage()
+  {
+    printf("Usage for add_two_ints_server app:\n");
+    printf("add_two_ints_server [-s service_name] [-h]\n");
+    printf("options:\n");
+    printf("-h : Print this help function.\n");
+    printf("-s service_name : Specify the service name for server. Defaults to add_two_ints.\n");
+  }
+
+  DEMO_NODES_CPP_LOCAL
   bool find_command_option(const std::vector<std::string> & args, const std::string & option)
   {
     return std::find(args.begin(), args.end(), option) != args.end();
   }
 
+  DEMO_NODES_CPP_LOCAL
   std::string get_command_option(const std::vector<std::string> & args, const std::string & option)
   {
     auto it = std::find(args.begin(), args.end(), option);
@@ -87,7 +94,6 @@ class ServerNode : public rclcpp::Node
     return std::string();
   }
 
-private:
   rclcpp::Service<example_interfaces::srv::AddTwoInts>::SharedPtr srv_;
   std::string service_name_ = "add_two_ints";
 };
diff --git a/demo_nodes_cpp/src/timers/one_off_timer.cpp b/demo_nodes_cpp/src/timers/one_off_timer.cpp
index d0af977db..deb844712 100644
--- a/demo_nodes_cpp/src/timers/one_off_timer.cpp
+++ b/demo_nodes_cpp/src/timers/one_off_timer.cpp
@@ -19,6 +19,8 @@
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_components/register_node_macro.hpp"
 
+#include "demo_nodes_cpp/visibility_control.h"
+
 using namespace std::chrono_literals;
 
 namespace demo_nodes_cpp
@@ -27,6 +29,7 @@ namespace demo_nodes_cpp
 class OneOffTimerNode : public rclcpp::Node
 {
 public:
+  DEMO_NODES_CPP_PUBLIC
   explicit OneOffTimerNode(const rclcpp::NodeOptions & options)
   : Node("one_off_timer", options), count(0)
   {
diff --git a/demo_nodes_cpp/src/timers/reuse_timer.cpp b/demo_nodes_cpp/src/timers/reuse_timer.cpp
index c4c46eaac..cf3131323 100644
--- a/demo_nodes_cpp/src/timers/reuse_timer.cpp
+++ b/demo_nodes_cpp/src/timers/reuse_timer.cpp
@@ -18,6 +18,8 @@
 
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_components/register_node_macro.hpp"
+#include "demo_nodes_cpp/visibility_control.h"
+
 using namespace std::chrono_literals;
 
 namespace demo_nodes_cpp
@@ -26,6 +28,7 @@ namespace demo_nodes_cpp
 class ReuseTimerNode : public rclcpp::Node
 {
 public:
+  DEMO_NODES_CPP_PUBLIC
   explicit ReuseTimerNode(const rclcpp::NodeOptions & options)
   : Node("reuse_timer", options), count(0)
   {
diff --git a/demo_nodes_cpp/src/topics/listener.cpp b/demo_nodes_cpp/src/topics/listener.cpp
index c5f41f804..2f0bf0ee3 100644
--- a/demo_nodes_cpp/src/topics/listener.cpp
+++ b/demo_nodes_cpp/src/topics/listener.cpp
@@ -23,6 +23,8 @@
 
 #include "std_msgs/msg/string.hpp"
 
+#include "demo_nodes_cpp/visibility_control.h"
+
 namespace demo_nodes_cpp
 {
 // Create a Listener class that subclasses the generic rclcpp::Node base class.
@@ -30,6 +32,7 @@ namespace demo_nodes_cpp
 class Listener : public rclcpp::Node
 {
 public:
+  DEMO_NODES_CPP_PUBLIC
   explicit Listener(const rclcpp::NodeOptions & options)
   : Node("listener", options)
   {
@@ -50,7 +53,6 @@ class Listener : public rclcpp::Node
         {
           RCLCPP_INFO(this->get_logger(), "I heard: [%s]", msg->data.c_str());
         };
-
       // Create a subscription to the topic which can be matched with one or more compatible ROS
       // publishers.
       // Note that not all publishers on the same topic with the same type will be compatible:
@@ -59,6 +61,8 @@ class Listener : public rclcpp::Node
     }
   }
 
+private:
+  DEMO_NODES_CPP_LOCAL
   void print_usage()
   {
     printf("Usage for listener app:\n");
@@ -68,11 +72,13 @@ class Listener : public rclcpp::Node
     printf("-t topic_name : Specify the topic on which to subscribe. Defaults to chatter.\n");
   }
 
+  DEMO_NODES_CPP_LOCAL
   bool find_command_option(const std::vector<std::string> & args, const std::string & option)
   {
     return std::find(args.begin(), args.end(), option) != args.end();
   }
 
+  DEMO_NODES_CPP_LOCAL
   std::string get_command_option(const std::vector<std::string> & args, const std::string & option)
   {
     auto it = std::find(args.begin(), args.end(), option);
@@ -82,7 +88,6 @@ class Listener : public rclcpp::Node
     return std::string();
   }
 
-private:
   rclcpp::Subscription<std_msgs::msg::String>::SharedPtr sub_;
   std::string topic_name_ = "chatter";
 };
diff --git a/demo_nodes_cpp/src/topics/listener_best_effort.cpp b/demo_nodes_cpp/src/topics/listener_best_effort.cpp
index 5e376501e..a65ff2d8d 100644
--- a/demo_nodes_cpp/src/topics/listener_best_effort.cpp
+++ b/demo_nodes_cpp/src/topics/listener_best_effort.cpp
@@ -19,11 +19,14 @@
 #include "rclcpp_components/register_node_macro.hpp"
 #include "std_msgs/msg/string.hpp"
 
+#include "demo_nodes_cpp/visibility_control.h"
+
 namespace demo_nodes_cpp
 {
 class ListenerBestEffort : public rclcpp::Node
 {
 public:
+  DEMO_NODES_CPP_PUBLIC
   explicit ListenerBestEffort(const rclcpp::NodeOptions & options)
   : Node("listener", options)
   {
diff --git a/demo_nodes_cpp/src/topics/listener_serialized_message.cpp b/demo_nodes_cpp/src/topics/listener_serialized_message.cpp
index bdbcc07e0..a70c29d4a 100644
--- a/demo_nodes_cpp/src/topics/listener_serialized_message.cpp
+++ b/demo_nodes_cpp/src/topics/listener_serialized_message.cpp
@@ -26,6 +26,8 @@
 
 #include "rosidl_typesupport_cpp/message_type_support.hpp"
 
+#include "demo_nodes_cpp/visibility_control.h"
+
 namespace demo_nodes_cpp
 {
 // Create a Listener class that subclasses the generic rclcpp::Node base class.
@@ -33,6 +35,7 @@ namespace demo_nodes_cpp
 class SerializedMessageListener : public rclcpp::Node
 {
 public:
+  DEMO_NODES_CPP_PUBLIC
   explicit SerializedMessageListener(const rclcpp::NodeOptions & options)
   : Node("serialized_message_listener", options)
   {
@@ -84,6 +87,8 @@ class SerializedMessageListener : public rclcpp::Node
     }
   }
 
+private:
+  DEMO_NODES_CPP_LOCAL
   void print_usage()
   {
     printf("Usage for listener app:\n");
@@ -93,11 +98,13 @@ class SerializedMessageListener : public rclcpp::Node
     printf("-t topic_name : Specify the topic on which to subscribe. Defaults to chatter.\n");
   }
 
+  DEMO_NODES_CPP_LOCAL
   bool find_command_option(const std::vector<std::string> & args, const std::string & option)
   {
     return std::find(args.begin(), args.end(), option) != args.end();
   }
 
+  DEMO_NODES_CPP_LOCAL
   std::string get_command_option(const std::vector<std::string> & args, const std::string & option)
   {
     auto it = std::find(args.begin(), args.end(), option);
@@ -107,7 +114,6 @@ class SerializedMessageListener : public rclcpp::Node
     return std::string();
   }
 
-private:
   rclcpp::Subscription<rmw_serialized_message_t>::SharedPtr sub_;
   std::string topic_name_ = "chatter";
 };
diff --git a/demo_nodes_cpp/src/topics/talker.cpp b/demo_nodes_cpp/src/topics/talker.cpp
index eb9a97f93..613abc545 100644
--- a/demo_nodes_cpp/src/topics/talker.cpp
+++ b/demo_nodes_cpp/src/topics/talker.cpp
@@ -25,6 +25,8 @@
 
 #include "std_msgs/msg/string.hpp"
 
+#include "demo_nodes_cpp/visibility_control.h"
+
 using namespace std::chrono_literals;
 
 namespace demo_nodes_cpp
@@ -34,6 +36,7 @@ namespace demo_nodes_cpp
 class Talker : public rclcpp::Node
 {
 public:
+  DEMO_NODES_CPP_PUBLIC
   explicit Talker(const rclcpp::NodeOptions & options)
   : Node("talker", options)
   {
@@ -66,6 +69,9 @@ class Talker : public rclcpp::Node
       timer_ = this->create_wall_timer(1s, publish_message);
     }
   }
+
+private:
+  DEMO_NODES_CPP_LOCAL
   void print_usage()
   {
     printf("Usage for talker app:\n");
@@ -75,11 +81,13 @@ class Talker : public rclcpp::Node
     printf("-t topic_name : Specify the topic on which to publish. Defaults to chatter.\n");
   }
 
+  DEMO_NODES_CPP_LOCAL
   bool find_command_option(const std::vector<std::string> & args, const std::string & option)
   {
     return std::find(args.begin(), args.end(), option) != args.end();
   }
 
+  DEMO_NODES_CPP_LOCAL
   std::string get_command_option(const std::vector<std::string> & args, const std::string & option)
   {
     auto it = std::find(args.begin(), args.end(), option);
@@ -89,7 +97,6 @@ class Talker : public rclcpp::Node
     return std::string();
   }
 
-private:
   size_t count_ = 1;
   std::unique_ptr<std_msgs::msg::String> msg_;
   rclcpp::Publisher<std_msgs::msg::String>::SharedPtr pub_;
diff --git a/demo_nodes_cpp/src/topics/talker_serialized_message.cpp b/demo_nodes_cpp/src/topics/talker_serialized_message.cpp
index f1cd59d45..0985fc0d2 100644
--- a/demo_nodes_cpp/src/topics/talker_serialized_message.cpp
+++ b/demo_nodes_cpp/src/topics/talker_serialized_message.cpp
@@ -27,6 +27,8 @@
 
 #include "rmw/serialized_message.h"
 
+#include "demo_nodes_cpp/visibility_control.h"
+
 using namespace std::chrono_literals;
 
 namespace demo_nodes_cpp
@@ -35,6 +37,7 @@ namespace demo_nodes_cpp
 class SerializedMessageTalker : public rclcpp::Node
 {
 public:
+  DEMO_NODES_CPP_PUBLIC
   explicit SerializedMessageTalker(const rclcpp::NodeOptions & options)
   : Node("serialized_message_talker", options)
   {
@@ -127,6 +130,7 @@ class SerializedMessageTalker : public rclcpp::Node
     }
   }
 
+  DEMO_NODES_CPP_PUBLIC
   ~SerializedMessageTalker()
   {
     auto ret = rmw_serialized_message_fini(&serialized_msg_);
@@ -135,6 +139,8 @@ class SerializedMessageTalker : public rclcpp::Node
     }
   }
 
+private:
+  DEMO_NODES_CPP_LOCAL
   void print_usage()
   {
     printf("Usage for talker app:\n");
@@ -144,11 +150,13 @@ class SerializedMessageTalker : public rclcpp::Node
     printf("-t topic_name : Specify the topic on which to publish. Defaults to chatter.\n");
   }
 
+  DEMO_NODES_CPP_LOCAL
   bool find_command_option(const std::vector<std::string> & args, const std::string & option)
   {
     return std::find(args.begin(), args.end(), option) != args.end();
   }
 
+  DEMO_NODES_CPP_LOCAL
   std::string get_command_option(const std::vector<std::string> & args, const std::string & option)
   {
     auto it = std::find(args.begin(), args.end(), option);
@@ -158,7 +166,6 @@ class SerializedMessageTalker : public rclcpp::Node
     return std::string();
   }
 
-private:
   size_t count_ = 1;
   rcl_serialized_message_t serialized_msg_;
   rclcpp::Publisher<std_msgs::msg::String>::SharedPtr pub_;
diff --git a/demo_nodes_cpp_native/CMakeLists.txt b/demo_nodes_cpp_native/CMakeLists.txt
index ba62ad353..2cd3322ce 100644
--- a/demo_nodes_cpp_native/CMakeLists.txt
+++ b/demo_nodes_cpp_native/CMakeLists.txt
@@ -11,8 +11,6 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
-
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_components REQUIRED)
@@ -20,9 +18,13 @@ find_package(rmw REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(rmw_fastrtps_cpp QUIET)
 
+include_directories(include)
+
 if(rmw_fastrtps_cpp_FOUND)
   add_library(talker_native SHARED
     src/talker.cpp)
+  target_compile_definitions(talker_native
+    PRIVATE "DEMO_NODES_CPP_NATIVE_BUILDING_DLL")
   ament_target_dependencies(talker_native
     "rclcpp"
     "std_msgs"
diff --git a/demo_nodes_cpp_native/include/demo_nodes_cpp_native/visibility_control.h b/demo_nodes_cpp_native/include/demo_nodes_cpp_native/visibility_control.h
new file mode 100644
index 000000000..1007aad2e
--- /dev/null
+++ b/demo_nodes_cpp_native/include/demo_nodes_cpp_native/visibility_control.h
@@ -0,0 +1,58 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// 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 DEMO_NODES_CPP_NATIVE__VISIBILITY_CONTROL_H_
+#define DEMO_NODES_CPP_NATIVE__VISIBILITY_CONTROL_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define DEMO_NODES_CPP_NATIVE_EXPORT __attribute__ ((dllexport))
+    #define DEMO_NODES_CPP_NATIVE_IMPORT __attribute__ ((dllimport))
+  #else
+    #define DEMO_NODES_CPP_NATIVE_EXPORT __declspec(dllexport)
+    #define DEMO_NODES_CPP_NATIVE_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef DEMO_NODES_CPP_NATIVE_BUILDING_DLL
+    #define DEMO_NODES_CPP_NATIVE_PUBLIC DEMO_NODES_CPP_NATIVE_EXPORT
+  #else
+    #define DEMO_NODES_CPP_NATIVE_PUBLIC DEMO_NODES_CPP_NATIVE_IMPORT
+  #endif
+  #define DEMO_NODES_CPP_NATIVE_PUBLIC_TYPE DEMO_NODES_CPP_NATIVE_PUBLIC
+  #define DEMO_NODES_CPP_NATIVE_LOCAL
+#else
+  #define DEMO_NODES_CPP_NATIVE_EXPORT __attribute__ ((visibility("default")))
+  #define DEMO_NODES_CPP_NATIVE_IMPORT
+  #if __GNUC__ >= 4
+    #define DEMO_NODES_CPP_NATIVE_PUBLIC __attribute__ ((visibility("default")))
+    #define DEMO_NODES_CPP_NATIVE_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define DEMO_NODES_CPP_NATIVE_PUBLIC
+    #define DEMO_NODES_CPP_NATIVE_LOCAL
+  #endif
+  #define DEMO_NODES_CPP_NATIVE_PUBLIC_TYPE
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // DEMO_NODES_CPP_NATIVE__VISIBILITY_CONTROL_H_
diff --git a/demo_nodes_cpp_native/src/talker.cpp b/demo_nodes_cpp_native/src/talker.cpp
index 7a8c82f88..ecada331d 100644
--- a/demo_nodes_cpp_native/src/talker.cpp
+++ b/demo_nodes_cpp_native/src/talker.cpp
@@ -24,12 +24,15 @@
 #include "rmw_fastrtps_cpp/get_participant.hpp"
 #include "rmw_fastrtps_cpp/get_publisher.hpp"
 
+#include "demo_nodes_cpp_native/visibility_control.h"
+
 using namespace std::chrono_literals;
 namespace demo_nodes_cpp_native
 {
 class Talker : public rclcpp::Node
 {
 public:
+  DEMO_NODES_CPP_NATIVE_PUBLIC
   explicit Talker(const rclcpp::NodeOptions & options)
   : Node("talker_native", options)
   {
diff --git a/image_tools/CMakeLists.txt b/image_tools/CMakeLists.txt
index 02ccd8c83..d5ac996d0 100644
--- a/image_tools/CMakeLists.txt
+++ b/image_tools/CMakeLists.txt
@@ -11,8 +11,6 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
-
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_components REQUIRED)
@@ -27,6 +25,8 @@ add_library(imagetools SHARED
   src/showimage.cpp
   src/options.cpp
   src/burger.cpp)
+target_compile_definitions(imagetools
+  PRIVATE "IMAGE_TOOLS_BUILDING_DLL")
 ament_target_dependencies(imagetools
   "rclcpp"
   "sensor_msgs"
diff --git a/image_tools/include/image_tools/options.hpp b/image_tools/include/image_tools/options.hpp
index 02cda292e..706b02d89 100644
--- a/image_tools/include/image_tools/options.hpp
+++ b/image_tools/include/image_tools/options.hpp
@@ -20,12 +20,14 @@
 
 #include "rmw/types.h"
 
+#include "image_tools/visibility_control.h"
 /// Find "option" in the argument vector.
 /**
  * \param[in] args The argument vector
  * \param[in] option The option to search for
  * \return True if option was found in args, false otherwise.
  */
+IMAGE_TOOLS_PUBLIC
 bool find_command_option(
   const std::vector<std::string> & args, const std::string & option);
 
@@ -35,6 +37,7 @@ bool find_command_option(
  * \param[in] option The option to search for
  * \return The value that comes after "option"
  */
+IMAGE_TOOLS_PUBLIC
 std::string get_command_option(
   const std::vector<std::string> & args, const std::string & option);
 
@@ -50,6 +53,7 @@ std::string get_command_option(
  * \param[in] height The height of the image to get, 240 by default.
  * \param[in] burger_mode If true, produce images of burgers rather than use a camera.
  */
+IMAGE_TOOLS_PUBLIC
 bool parse_command_options(
   std::vector<std::string> args, size_t * depth,
   rmw_qos_reliability_policy_t * reliability_policy,
diff --git a/image_tools/include/image_tools/visibility_control.h b/image_tools/include/image_tools/visibility_control.h
new file mode 100644
index 000000000..1a2b3eb7c
--- /dev/null
+++ b/image_tools/include/image_tools/visibility_control.h
@@ -0,0 +1,58 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// 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 IMAGE_TOOLS__VISIBILITY_CONTROL_H_
+#define IMAGE_TOOLS__VISIBILITY_CONTROL_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define IMAGE_TOOLS_EXPORT __attribute__ ((dllexport))
+    #define IMAGE_TOOLS_IMPORT __attribute__ ((dllimport))
+  #else
+    #define IMAGE_TOOLS_EXPORT __declspec(dllexport)
+    #define IMAGE_TOOLS_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef IMAGE_TOOLS_BUILDING_DLL
+    #define IMAGE_TOOLS_PUBLIC IMAGE_TOOLS_EXPORT
+  #else
+    #define IMAGE_TOOLS_PUBLIC IMAGE_TOOLS_IMPORT
+  #endif
+  #define IMAGE_TOOLS_PUBLIC_TYPE IMAGE_TOOLS_PUBLIC
+  #define IMAGE_TOOLS_LOCAL
+#else
+  #define IMAGE_TOOLS_EXPORT __attribute__ ((visibility("default")))
+  #define IMAGE_TOOLS_IMPORT
+  #if __GNUC__ >= 4
+    #define IMAGE_TOOLS_PUBLIC __attribute__ ((visibility("default")))
+    #define IMAGE_TOOLS_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define IMAGE_TOOLS_PUBLIC
+    #define IMAGE_TOOLS_LOCAL
+  #endif
+  #define IMAGE_TOOLS_PUBLIC_TYPE
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // IMAGE_TOOLS__VISIBILITY_CONTROL_H_
diff --git a/image_tools/src/burger.hpp b/image_tools/src/burger.hpp
index 52095f900..392687727 100644
--- a/image_tools/src/burger.hpp
+++ b/image_tools/src/burger.hpp
@@ -19,14 +19,19 @@
 
 #include "opencv2/highgui/highgui.hpp"
 
+#include "image_tools/visibility_control.h"
+
 namespace burger
 {
 
 class Burger
 {
 public:
+  IMAGE_TOOLS_PUBLIC
   Burger();
+  IMAGE_TOOLS_PUBLIC
   cv::Mat & render_burger(size_t width, size_t height);
+
   cv::Mat burger_buf;
 
 private:
diff --git a/image_tools/src/cam2image.cpp b/image_tools/src/cam2image.cpp
index bcd793eef..be4580cdd 100644
--- a/image_tools/src/cam2image.cpp
+++ b/image_tools/src/cam2image.cpp
@@ -27,6 +27,7 @@
 #include "std_msgs/msg/bool.hpp"
 
 #include "image_tools/options.hpp"
+#include "image_tools/visibility_control.h"
 
 #include "./burger.hpp"
 
@@ -35,6 +36,7 @@ namespace image_tools
 class Cam2Image : public rclcpp::Node
 {
 public:
+  IMAGE_TOOLS_PUBLIC
   explicit Cam2Image(const rclcpp::NodeOptions & options)
   : Node("cam2image", options)
   {
@@ -54,6 +56,7 @@ class Cam2Image : public rclcpp::Node
    * \param[in] argv
    * \return A bool whether command line options were valid or not
    */
+  IMAGE_TOOLS_PUBLIC
   bool setup(std::vector<std::string> args)
   {
     return parse_command_options(
@@ -65,6 +68,7 @@ class Cam2Image : public rclcpp::Node
   /**
    * publish camera feed or burger image to "image" topic
    */
+  IMAGE_TOOLS_PUBLIC
   void execute()
   {
     rclcpp::Logger node_logger = this->get_logger();
@@ -162,11 +166,13 @@ class Cam2Image : public rclcpp::Node
     }
   }
 
+private:
   /// Convert an OpenCV matrix encoding type to a string format recognized by sensor_msgs::Image.
   /**
    * \param[in] mat_type The OpenCV encoding type.
    * \return A string representing the encoding type.
    */
+  IMAGE_TOOLS_LOCAL
   std::string mat_type2encoding(int mat_type)
   {
     switch (mat_type) {
@@ -189,6 +195,7 @@ class Cam2Image : public rclcpp::Node
    * \param[in] frame_id ID for the ROS message.
    * \param[out] Allocated shared pointer for the ROS Image message.
    */
+  IMAGE_TOOLS_LOCAL
   void convert_frame_to_message(
     const cv::Mat & frame, size_t frame_id, sensor_msgs::msg::Image & msg)
   {
@@ -203,7 +210,6 @@ class Cam2Image : public rclcpp::Node
     msg.header.frame_id = std::to_string(frame_id);
   }
 
-private:
   rclcpp::Subscription<std_msgs::msg::Bool>::SharedPtr sub_;
   rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr pub_;
   rclcpp::TimerBase::SharedPtr timer_;
diff --git a/image_tools/src/showimage.cpp b/image_tools/src/showimage.cpp
index b58bbd199..7af964b64 100644
--- a/image_tools/src/showimage.cpp
+++ b/image_tools/src/showimage.cpp
@@ -25,11 +25,14 @@
 #include "sensor_msgs/msg/image.hpp"
 
 #include "image_tools/options.hpp"
+#include "image_tools/visibility_control.h"
+
 namespace image_tools
 {
 class ShowImage : public rclcpp::Node
 {
 public:
+  IMAGE_TOOLS_PUBLIC
   explicit ShowImage(const rclcpp::NodeOptions & options)
   : Node("showimage", options)
   {
@@ -48,6 +51,7 @@ class ShowImage : public rclcpp::Node
    * \param[in] argv
    * \return A bool whether command line options were valid or not
    */
+  IMAGE_TOOLS_PUBLIC
   bool setup(std::vector<std::string> args)
   {
     return parse_command_options(
@@ -55,6 +59,7 @@ class ShowImage : public rclcpp::Node
       nullptr, nullptr, &topic_);
   }
 
+  IMAGE_TOOLS_PUBLIC
   void execute()
   {
     if (show_camera_) {
@@ -88,11 +93,13 @@ class ShowImage : public rclcpp::Node
     sub_ = create_subscription<sensor_msgs::msg::Image>(topic_, qos, callback);
   }
 
+private:
   /// Convert a sensor_msgs::Image encoding type (stored as a string) to an OpenCV encoding type.
   /**
    * \param[in] encoding A string representing the encoding type.
    * \return The OpenCV encoding type.
    */
+  IMAGE_TOOLS_LOCAL
   int encoding2mat_type(const std::string & encoding)
   {
     if (encoding == "mono8") {
@@ -116,6 +123,7 @@ class ShowImage : public rclcpp::Node
 
   /// Convert the ROS Image message to an OpenCV matrix and display it to the user.
   // \param[in] msg The image message to show.
+  IMAGE_TOOLS_LOCAL
   void show_image(
     const sensor_msgs::msg::Image::SharedPtr msg, bool show_camera, rclcpp::Logger logger)
   {
@@ -141,7 +149,6 @@ class ShowImage : public rclcpp::Node
     }
   }
 
-private:
   rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr sub_;
   size_t depth_ = rmw_qos_profile_default.depth;
   rmw_qos_reliability_policy_t reliability_policy_ = rmw_qos_profile_default.reliability;