diff --git a/rclcpp/CMakeLists.txt b/rclcpp/CMakeLists.txt
index 149d49fa20..1b86c01119 100644
--- a/rclcpp/CMakeLists.txt
+++ b/rclcpp/CMakeLists.txt
@@ -23,6 +23,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 include_directories(include)
+include(cmake/configure_rclcpp.cmake)
 
 set(${PROJECT_NAME}_SRCS
   src/rclcpp/any_executable.cpp
@@ -109,6 +110,7 @@ ament_target_dependencies(${PROJECT_NAME}
   "rosidl_typesupport_cpp"
   "rosidl_generator_cpp")
 
+configure_rclcpp(${PROJECT_NAME})
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
 target_compile_definitions(${PROJECT_NAME}
diff --git a/rclcpp/cmake/configure_rclcpp.cmake b/rclcpp/cmake/configure_rclcpp.cmake
new file mode 100644
index 0000000000..f981e3422e
--- /dev/null
+++ b/rclcpp/cmake/configure_rclcpp.cmake
@@ -0,0 +1,66 @@
+# Copyright 2019 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.
+#
+# Configures ros client library with custom settings.
+# The custom settings are all related to library symbol visibility, see:
+# https://gcc.gnu.org/wiki/Visibility
+# http://www.ibm.com/developerworks/aix/library/au-aix-symbol-visibility/
+#
+# Below code is heavily referenced from a similar functionality in rmw:
+# https://github.com/ros2/rmw/blob/master/rmw/cmake/configure_rmw_library.cmake
+#
+# :param library_target: the library target
+# :type library_target: string
+# :param LANGUAGE: Optional flag for the language of the library.
+#   Allowed values are "C" and "CXX". The default is "CXX".
+# :type LANGUAGE: string
+#
+# @public
+#
+macro(configure_rclcpp library_target)
+  cmake_parse_arguments(_ARG "" "LANGUAGE" "" ${ARGN})
+  if(_ARG_UNPARSED_ARGUMENTS)
+    message(FATAL_ERROR "configure_rclcpp() called with unused arguments: ${_ARG_UNPARSED_ARGUMENTS}")
+  endif()
+
+  if(NOT _ARG_LANGUAGE)
+    set(_ARG_LANGUAGE "CXX")
+  endif()
+
+  if(_ARG_LANGUAGE STREQUAL "C")
+    # Set the visibility to hidden by default if possible
+    if(CMAKE_C_COMPILER_ID STREQUAL "GNU" OR CMAKE_C_COMPILER_ID MATCHES "Clang")
+      # Set the visibility of symbols to hidden by default for gcc and clang
+      # (this is already the default on Windows)
+      set_target_properties(${library_target}
+        PROPERTIES
+        COMPILE_FLAGS "-fvisibility=hidden"
+      )
+    endif()
+
+  elseif(_ARG_LANGUAGE STREQUAL "CXX")
+    # Set the visibility to hidden by default if possible
+    if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+      # Set the visibility of symbols to hidden by default for gcc and clang
+      # (this is already the default on Windows)
+      set_target_properties(${library_target}
+        PROPERTIES
+        COMPILE_FLAGS "-fvisibility=hidden -fvisibility-inlines-hidden"
+      )
+    endif()
+
+  else()
+    message(FATAL_ERROR "configure_rclcpp() called with unsupported LANGUAGE: '${_ARG_LANGUAGE}'")
+  endif()
+endmacro()
diff --git a/rclcpp/include/rclcpp/client.hpp b/rclcpp/include/rclcpp/client.hpp
index 1f22b55c6d..bae36e4b22 100644
--- a/rclcpp/include/rclcpp/client.hpp
+++ b/rclcpp/include/rclcpp/client.hpp
@@ -49,32 +49,26 @@ namespace node_interfaces
 class NodeBaseInterface;
 }  // namespace node_interfaces
 
-class ClientBase
+class RCLCPP_PUBLIC ClientBase
 {
 public:
   RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(ClientBase)
 
-  RCLCPP_PUBLIC
   ClientBase(
     rclcpp::node_interfaces::NodeBaseInterface * node_base,
     rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph);
 
-  RCLCPP_PUBLIC
   virtual ~ClientBase();
 
-  RCLCPP_PUBLIC
   const char *
   get_service_name() const;
 
-  RCLCPP_PUBLIC
   std::shared_ptr<rcl_client_t>
   get_client_handle();
 
-  RCLCPP_PUBLIC
   std::shared_ptr<const rcl_client_t>
   get_client_handle() const;
 
-  RCLCPP_PUBLIC
   bool
   service_is_ready() const;
 
@@ -96,15 +90,12 @@ class ClientBase
 protected:
   RCLCPP_DISABLE_COPY(ClientBase)
 
-  RCLCPP_PUBLIC
   bool
   wait_for_service_nanoseconds(std::chrono::nanoseconds timeout);
 
-  RCLCPP_PUBLIC
   rcl_node_t *
   get_rcl_node_handle();
 
-  RCLCPP_PUBLIC
   const rcl_node_t *
   get_rcl_node_handle() const;
 
diff --git a/rclcpp/include/rclcpp/executor.hpp b/rclcpp/include/rclcpp/executor.hpp
index 2de4bdaea4..30125f8171 100644
--- a/rclcpp/include/rclcpp/executor.hpp
+++ b/rclcpp/include/rclcpp/executor.hpp
@@ -92,18 +92,16 @@ static inline ExecutorArgs create_default_executor_arguments()
  * model.
  * See SingleThreadedExecutor and MultiThreadedExecutor for examples of execution paradigms.
  */
-class Executor
+class RCLCPP_PUBLIC Executor
 {
 public:
   RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(Executor)
 
   /// Default constructor.
   // \param[in] ms The memory strategy to be used with this executor.
-  RCLCPP_PUBLIC
   explicit Executor(const ExecutorArgs & args = ExecutorArgs());
 
   /// Default destructor.
-  RCLCPP_PUBLIC
   virtual ~Executor();
 
   /// Do work periodically as it becomes available to us. Blocking call, may block indefinitely.
@@ -119,12 +117,10 @@ class Executor
    * the executor is blocked at the rmw layer while waiting for work and it is notified that a new
    * node was added, it will wake up.
    */
-  RCLCPP_PUBLIC
   virtual void
   add_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, bool notify = true);
 
   /// Convenience function which takes Node and forwards NodeBaseInterface.
-  RCLCPP_PUBLIC
   virtual void
   add_node(std::shared_ptr<rclcpp::Node> node_ptr, bool notify = true);
 
@@ -135,12 +131,10 @@ class Executor
    * This is useful if the last node was removed from the executor while the executor was blocked
    * waiting for work in another thread, because otherwise the executor would never be notified.
    */
-  RCLCPP_PUBLIC
   virtual void
   remove_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, bool notify = true);
 
   /// Convenience function which takes Node and forwards NodeBaseInterface.
-  RCLCPP_PUBLIC
   virtual void
   remove_node(std::shared_ptr<rclcpp::Node> node_ptr, bool notify = true);
 
@@ -180,12 +174,10 @@ class Executor
   /**
    * \param[in] node Shared pointer to the node to add.
    */
-  RCLCPP_PUBLIC
   void
   spin_node_some(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node);
 
   /// Convenience function which takes Node and forwards NodeBaseInterface.
-  RCLCPP_PUBLIC
   void
   spin_node_some(std::shared_ptr<rclcpp::Node> node);
 
@@ -200,11 +192,9 @@ class Executor
    * Note that spin_some() may take longer than this time as it only returns once max_duration has
    * been exceeded.
    */
-  RCLCPP_PUBLIC
   virtual void
   spin_some(std::chrono::nanoseconds max_duration = std::chrono::nanoseconds(0));
 
-  RCLCPP_PUBLIC
   virtual void
   spin_once(std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));
 
@@ -269,7 +259,6 @@ class Executor
 
   /// Cancel any running spin* function, causing it to return.
   /* This function can be called asynchonously from any thread. */
-  RCLCPP_PUBLIC
   void
   cancel();
 
@@ -279,12 +268,10 @@ class Executor
    * unintended consequences.
    * \param[in] memory_strategy Shared pointer to the memory strategy to set.
    */
-  RCLCPP_PUBLIC
   void
   set_memory_strategy(memory_strategy::MemoryStrategy::SharedPtr memory_strategy);
 
 protected:
-  RCLCPP_PUBLIC
   void
   spin_node_once_nanoseconds(
     rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node,
@@ -294,53 +281,41 @@ class Executor
   /** \param[in] any_exec Union structure that can hold any executable type (timer, subscription,
    * service, client).
    */
-  RCLCPP_PUBLIC
   void
   execute_any_executable(AnyExecutable & any_exec);
 
-  RCLCPP_PUBLIC
   static void
   execute_subscription(
     rclcpp::SubscriptionBase::SharedPtr subscription);
 
-  RCLCPP_PUBLIC
   static void
   execute_intra_process_subscription(
     rclcpp::SubscriptionBase::SharedPtr subscription);
 
-  RCLCPP_PUBLIC
   static void
   execute_timer(rclcpp::TimerBase::SharedPtr timer);
 
-  RCLCPP_PUBLIC
   static void
   execute_service(rclcpp::ServiceBase::SharedPtr service);
 
-  RCLCPP_PUBLIC
   static void
   execute_client(rclcpp::ClientBase::SharedPtr client);
 
-  RCLCPP_PUBLIC
   void
   wait_for_work(std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));
 
-  RCLCPP_PUBLIC
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
   get_node_by_group(rclcpp::callback_group::CallbackGroup::SharedPtr group);
 
-  RCLCPP_PUBLIC
   rclcpp::callback_group::CallbackGroup::SharedPtr
   get_group_by_timer(rclcpp::TimerBase::SharedPtr timer);
 
-  RCLCPP_PUBLIC
   void
   get_next_timer(AnyExecutable & any_exec);
 
-  RCLCPP_PUBLIC
   bool
   get_next_ready_executable(AnyExecutable & any_executable);
 
-  RCLCPP_PUBLIC
   bool
   get_next_executable(
     AnyExecutable & any_executable,
diff --git a/rclcpp/include/rclcpp/intra_process_manager.hpp b/rclcpp/include/rclcpp/intra_process_manager.hpp
index 6c044a4da6..aa47b36d93 100644
--- a/rclcpp/include/rclcpp/intra_process_manager.hpp
+++ b/rclcpp/include/rclcpp/intra_process_manager.hpp
@@ -119,7 +119,7 @@ namespace intra_process_manager
  *
  * This class is neither CopyConstructable nor CopyAssignable.
  */
-class IntraProcessManager
+class RCLCPP_PUBLIC IntraProcessManager
 {
 private:
   RCLCPP_DISABLE_COPY(IntraProcessManager)
@@ -127,11 +127,9 @@ class IntraProcessManager
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(IntraProcessManager)
 
-  RCLCPP_PUBLIC
   explicit IntraProcessManager(
     IntraProcessManagerImplBase::SharedPtr state = create_default_impl());
 
-  RCLCPP_PUBLIC
   virtual ~IntraProcessManager();
 
   /// Register a subscription with the manager, returns subscriptions unique id.
@@ -147,7 +145,6 @@ class IntraProcessManager
    * \param subscription the Subscription to register.
    * \return an unsigned 64-bit integer which is the subscription's unique id.
    */
-  RCLCPP_PUBLIC
   uint64_t
   add_subscription(SubscriptionBase::SharedPtr subscription);
 
@@ -157,7 +154,6 @@ class IntraProcessManager
    *
    * \param intra_process_subscription_id id of the subscription to remove.
    */
-  RCLCPP_PUBLIC
   void
   remove_subscription(uint64_t intra_process_subscription_id);
 
@@ -206,7 +202,6 @@ class IntraProcessManager
    *
    * \param intra_process_publisher_id id of the publisher to remove.
    */
-  RCLCPP_PUBLIC
   void
   remove_publisher(uint64_t intra_process_publisher_id);
 
@@ -342,17 +337,14 @@ class IntraProcessManager
   }
 
   /// Return true if the given rmw_gid_t matches any stored Publishers.
-  RCLCPP_PUBLIC
   bool
   matches_any_publishers(const rmw_gid_t * id) const;
 
   /// Return the number of intraprocess subscriptions to a topic, given the publisher id.
-  RCLCPP_PUBLIC
   size_t
   get_subscription_count(uint64_t intra_process_publisher_id) const;
 
 private:
-  RCLCPP_PUBLIC
   static uint64_t
   get_next_unique_id();
 
diff --git a/rclcpp/include/rclcpp/node.hpp b/rclcpp/include/rclcpp/node.hpp
index 1f1a24b108..ef1db8016c 100644
--- a/rclcpp/include/rclcpp/node.hpp
+++ b/rclcpp/include/rclcpp/node.hpp
@@ -65,7 +65,7 @@ namespace rclcpp
 {
 
 /// Node is the single point of entry for creating publishers and subscribers.
-class Node : public std::enable_shared_from_this<Node>
+class RCLCPP_PUBLIC Node : public std::enable_shared_from_this<Node>
 {
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(Node)
@@ -75,7 +75,6 @@ class Node : public std::enable_shared_from_this<Node>
    * \param[in] node_name Name of the node.
    * \param[in] options Additional options to control creation of the node.
    */
-  RCLCPP_PUBLIC
   explicit Node(
     const std::string & node_name,
     const NodeOptions & options = NodeOptions());
@@ -86,18 +85,15 @@ class Node : public std::enable_shared_from_this<Node>
    * \param[in] namespace_ Namespace of the node.
    * \param[in] options Additional options to control creation of the node.
    */
-  RCLCPP_PUBLIC
   explicit Node(
     const std::string & node_name,
     const std::string & namespace_,
     const NodeOptions & options = NodeOptions());
 
-  RCLCPP_PUBLIC
   virtual ~Node();
 
   /// Get the name of the node.
   /** \return The name of the node. */
-  RCLCPP_PUBLIC
   const char *
   get_name() const;
 
@@ -111,23 +107,19 @@ class Node : public std::enable_shared_from_this<Node>
    * \sa get_effective_namespace()
    * \return The namespace of the node.
    */
-  RCLCPP_PUBLIC
   const char *
   get_namespace() const;
 
   /// Get the logger of the node.
   /** \return The logger of the node. */
-  RCLCPP_PUBLIC
   rclcpp::Logger
   get_logger() const;
 
   /// Create and return a callback group.
-  RCLCPP_PUBLIC
   rclcpp::callback_group::CallbackGroup::SharedPtr
   create_callback_group(rclcpp::callback_group::CallbackGroupType group_type);
 
   /// Return the list of callback groups in the node.
-  RCLCPP_PUBLIC
   const std::vector<rclcpp::callback_group::CallbackGroup::WeakPtr> &
   get_callback_groups() const;
 
@@ -258,11 +250,9 @@ class Node : public std::enable_shared_from_this<Node>
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_services_default,
     rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
 
-  RCLCPP_PUBLIC
   std::vector<rcl_interfaces::msg::SetParametersResult>
   set_parameters(const std::vector<rclcpp::Parameter> & parameters);
 
-  RCLCPP_PUBLIC
   rcl_interfaces::msg::SetParametersResult
   set_parameters_atomically(const std::vector<rclcpp::Parameter> & parameters);
 
@@ -286,15 +276,12 @@ class Node : public std::enable_shared_from_this<Node>
     const std::string & name,
     const std::map<std::string, MapValueT> & values);
 
-  RCLCPP_PUBLIC
   std::vector<rclcpp::Parameter>
   get_parameters(const std::vector<std::string> & names) const;
 
-  RCLCPP_PUBLIC
   rclcpp::Parameter
   get_parameter(const std::string & name) const;
 
-  RCLCPP_PUBLIC
   bool
   get_parameter(
     const std::string & name,
@@ -366,15 +353,12 @@ class Node : public std::enable_shared_from_this<Node>
     ParameterT & value,
     const ParameterT & alternative_value);
 
-  RCLCPP_PUBLIC
   std::vector<rcl_interfaces::msg::ParameterDescriptor>
   describe_parameters(const std::vector<std::string> & names) const;
 
-  RCLCPP_PUBLIC
   std::vector<uint8_t>
   get_parameter_types(const std::vector<std::string> & names) const;
 
-  RCLCPP_PUBLIC
   rcl_interfaces::msg::ListParametersResult
   list_parameters(const std::vector<std::string> & prefixes, uint64_t depth) const;
 
@@ -388,23 +372,18 @@ class Node : public std::enable_shared_from_this<Node>
   void
   register_param_change_callback(CallbackT && callback);
 
-  RCLCPP_PUBLIC
   std::vector<std::string>
   get_node_names() const;
 
-  RCLCPP_PUBLIC
   std::map<std::string, std::vector<std::string>>
   get_topic_names_and_types() const;
 
-  RCLCPP_PUBLIC
   std::map<std::string, std::vector<std::string>>
   get_service_names_and_types() const;
 
-  RCLCPP_PUBLIC
   size_t
   count_publishers(const std::string & topic_name) const;
 
-  RCLCPP_PUBLIC
   size_t
   count_subscribers(const std::string & topic_name) const;
 
@@ -413,7 +392,6 @@ class Node : public std::enable_shared_from_this<Node>
    * The Event object is scoped and therefore to return the loan just let it go
    * out of scope.
    */
-  RCLCPP_PUBLIC
   rclcpp::Event::SharedPtr
   get_graph_event();
 
@@ -425,67 +403,54 @@ class Node : public std::enable_shared_from_this<Node>
    * \throws EventNotRegisteredError if the given event was not acquired with
    *   get_graph_event().
    */
-  RCLCPP_PUBLIC
   void
   wait_for_graph_change(
     rclcpp::Event::SharedPtr event,
     std::chrono::nanoseconds timeout);
 
-  RCLCPP_PUBLIC
   rclcpp::Clock::SharedPtr
   get_clock();
 
-  RCLCPP_PUBLIC
   Time
   now();
 
   /// Return the Node's internal NodeBaseInterface implementation.
-  RCLCPP_PUBLIC
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
   get_node_base_interface();
 
   /// Return the Node's internal NodeClockInterface implementation.
-  RCLCPP_PUBLIC
   rclcpp::node_interfaces::NodeClockInterface::SharedPtr
   get_node_clock_interface();
 
   /// Return the Node's internal NodeGraphInterface implementation.
-  RCLCPP_PUBLIC
   rclcpp::node_interfaces::NodeGraphInterface::SharedPtr
   get_node_graph_interface();
 
   /// Return the Node's internal NodeLoggingInterface implementation.
-  RCLCPP_PUBLIC
   rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr
   get_node_logging_interface();
 
   /// Return the Node's internal NodeTimersInterface implementation.
-  RCLCPP_PUBLIC
   rclcpp::node_interfaces::NodeTimersInterface::SharedPtr
   get_node_timers_interface();
 
   /// Return the Node's internal NodeTopicsInterface implementation.
-  RCLCPP_PUBLIC
   rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr
   get_node_topics_interface();
 
   /// Return the Node's internal NodeServicesInterface implementation.
-  RCLCPP_PUBLIC
   rclcpp::node_interfaces::NodeServicesInterface::SharedPtr
   get_node_services_interface();
 
   /// Return the Node's internal NodeWaitablesInterface implementation.
-  RCLCPP_PUBLIC
   rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr
   get_node_waitables_interface();
 
   /// Return the Node's internal NodeParametersInterface implementation.
-  RCLCPP_PUBLIC
   rclcpp::node_interfaces::NodeParametersInterface::SharedPtr
   get_node_parameters_interface();
 
   /// Return the Node's internal NodeParametersInterface implementation.
-  RCLCPP_PUBLIC
   rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr
   get_node_time_source_interface();
 
@@ -515,7 +480,6 @@ class Node : public std::enable_shared_from_this<Node>
    * \sa get_effective_namespace()
    * \return the sub-namespace string, not including the node's original namespace
    */
-  RCLCPP_PUBLIC
   const std::string &
   get_sub_namespace() const;
 
@@ -541,7 +505,6 @@ class Node : public std::enable_shared_from_this<Node>
    * \sa get_sub_namespace()
    * \return the sub-namespace string, not including the node's original namespace
    */
-  RCLCPP_PUBLIC
   const std::string &
   get_effective_namespace() const;
 
@@ -583,12 +546,10 @@ class Node : public std::enable_shared_from_this<Node>
    * \throws NameValidationError if the sub-namespace is absolute, i.e. starts
    *   with a leading '/'.
    */
-  RCLCPP_PUBLIC
   Node::SharedPtr
   create_sub_node(const std::string & sub_namespace);
 
   /// Return the NodeOptions used when creating this node.
-  RCLCPP_PUBLIC
   const NodeOptions &
   get_node_options() const;
 
@@ -600,7 +561,6 @@ class Node : public std::enable_shared_from_this<Node>
    * \param[in] other The node from which a new sub-node is created.
    * \param[in] sub_namespace The sub-namespace of the sub-node.
    */
-  RCLCPP_PUBLIC
   Node(
     const Node & other,
     const std::string & sub_namespace);
@@ -608,7 +568,6 @@ class Node : public std::enable_shared_from_this<Node>
 private:
   RCLCPP_DISABLE_COPY(Node)
 
-  RCLCPP_PUBLIC
   bool
   group_in_node(callback_group::CallbackGroup::SharedPtr group);
 
diff --git a/rclcpp/include/rclcpp/publisher.hpp b/rclcpp/include/rclcpp/publisher.hpp
index 4500fedab5..5565b30356 100644
--- a/rclcpp/include/rclcpp/publisher.hpp
+++ b/rclcpp/include/rclcpp/publisher.hpp
@@ -54,7 +54,7 @@ namespace intra_process_manager
 class IntraProcessManager;
 }
 
-class PublisherBase
+class RCLCPP_PUBLIC PublisherBase
 {
   friend ::rclcpp::node_interfaces::NodeTopicsInterface;
 
@@ -70,61 +70,51 @@ class PublisherBase
    * \param[in] type_support The type support structure for the type to be published.
    * \param[in] publisher_options QoS settings for this publisher.
    */
-  RCLCPP_PUBLIC
   PublisherBase(
     rclcpp::node_interfaces::NodeBaseInterface * node_base,
     const std::string & topic,
     const rosidl_message_type_support_t & type_support,
     const rcl_publisher_options_t & publisher_options);
 
-  RCLCPP_PUBLIC
   virtual ~PublisherBase();
 
   /// Get the topic that this publisher publishes on.
   /** \return The topic name. */
-  RCLCPP_PUBLIC
   const char *
   get_topic_name() const;
 
   /// Get the queue size for this publisher.
   /** \return The queue size. */
-  RCLCPP_PUBLIC
   size_t
   get_queue_size() const;
 
   /// Get the global identifier for this publisher (used in rmw and by DDS).
   /** \return The gid. */
-  RCLCPP_PUBLIC
   const rmw_gid_t &
   get_gid() const;
 
   /// Get the global identifier for this publisher used by intra-process communication.
   /** \return The intra-process gid. */
-  RCLCPP_PUBLIC
   const rmw_gid_t &
   get_intra_process_gid() const;
 
   /// Get the rcl publisher handle.
   /** \return The rcl publisher handle. */
-  RCLCPP_PUBLIC
   rcl_publisher_t *
   get_publisher_handle();
 
   /// Get the rcl publisher handle.
   /** \return The rcl publisher handle. */
-  RCLCPP_PUBLIC
   const rcl_publisher_t *
   get_publisher_handle() const;
 
   /// Get subscription count
   /** \return The number of subscriptions. */
-  RCLCPP_PUBLIC
   size_t
   get_subscription_count() const;
 
   /// Get intraprocess subscription count
   /** \return The number of intraprocess subscriptions. */
-  RCLCPP_PUBLIC
   size_t
   get_intra_process_subscription_count() const;
 
@@ -134,7 +124,6 @@ class PublisherBase
    * \param[in] gid Reference to a gid.
    * \return True if the publisher's gid matches the input.
    */
-  RCLCPP_PUBLIC
   bool
   operator==(const rmw_gid_t & gid) const;
 
@@ -144,7 +133,6 @@ class PublisherBase
    * \param[in] gid A pointer to a gid.
    * \return True if this publisher's gid matches the input.
    */
-  RCLCPP_PUBLIC
   bool
   operator==(const rmw_gid_t * gid) const;
 
@@ -153,7 +141,6 @@ class PublisherBase
     std::shared_ptr<rclcpp::intra_process_manager::IntraProcessManager>;
 
   /// Implementation utility function used to setup intra process publishing after creation.
-  RCLCPP_PUBLIC
   void
   setup_intra_process(
     uint64_t intra_process_publisher_id,
diff --git a/rclcpp/include/rclcpp/service.hpp b/rclcpp/include/rclcpp/service.hpp
index 9dc8d027b0..e75839ce69 100644
--- a/rclcpp/include/rclcpp/service.hpp
+++ b/rclcpp/include/rclcpp/service.hpp
@@ -37,27 +37,22 @@
 namespace rclcpp
 {
 
-class ServiceBase
+class RCLCPP_PUBLIC ServiceBase
 {
 public:
   RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(ServiceBase)
 
-  RCLCPP_PUBLIC
   explicit ServiceBase(
     std::shared_ptr<rcl_node_t> node_handle);
 
-  RCLCPP_PUBLIC
   virtual ~ServiceBase();
 
-  RCLCPP_PUBLIC
   const char *
   get_service_name();
 
-  RCLCPP_PUBLIC
   std::shared_ptr<rcl_service_t>
   get_service_handle();
 
-  RCLCPP_PUBLIC
   std::shared_ptr<const rcl_service_t>
   get_service_handle() const;
 
@@ -70,11 +65,9 @@ class ServiceBase
 protected:
   RCLCPP_DISABLE_COPY(ServiceBase)
 
-  RCLCPP_PUBLIC
   rcl_node_t *
   get_rcl_node_handle();
 
-  RCLCPP_PUBLIC
   const rcl_node_t *
   get_rcl_node_handle() const;
 
diff --git a/rclcpp/include/rclcpp/subscription.hpp b/rclcpp/include/rclcpp/subscription.hpp
index 2a2a3e4eef..b230d730f9 100644
--- a/rclcpp/include/rclcpp/subscription.hpp
+++ b/rclcpp/include/rclcpp/subscription.hpp
@@ -57,7 +57,7 @@ class IntraProcessManager;
 
 /// Virtual base class for subscriptions. This pattern allows us to iterate over different template
 /// specializations of Subscription, among other things.
-class SubscriptionBase
+class RCLCPP_PUBLIC SubscriptionBase
 {
 public:
   RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(SubscriptionBase)
@@ -70,7 +70,6 @@ class SubscriptionBase
    * \param[in] subscription_options options for the subscription.
    * \param[in] is_serialized is true if the message will be delivered still serialized
    */
-  RCLCPP_PUBLIC
   SubscriptionBase(
     std::shared_ptr<rcl_node_t> node_handle,
     const rosidl_message_type_support_t & type_support_handle,
@@ -79,23 +78,18 @@ class SubscriptionBase
     bool is_serialized = false);
 
   /// Default destructor.
-  RCLCPP_PUBLIC
   virtual ~SubscriptionBase();
 
   /// Get the topic that this subscription is subscribed on.
-  RCLCPP_PUBLIC
   const char *
   get_topic_name() const;
 
-  RCLCPP_PUBLIC
   std::shared_ptr<rcl_subscription_t>
   get_subscription_handle();
 
-  RCLCPP_PUBLIC
   const std::shared_ptr<rcl_subscription_t>
   get_subscription_handle() const;
 
-  RCLCPP_PUBLIC
   virtual const std::shared_ptr<rcl_subscription_t>
   get_intra_process_subscription_handle() const;
 
@@ -140,7 +134,6 @@ class SubscriptionBase
 
   /// Get matching publisher count
   /** \return The number of publishers on this topic. */
-  RCLCPP_PUBLIC
   size_t
   get_publisher_count() const;
 
diff --git a/rclcpp/include/rclcpp/waitable.hpp b/rclcpp/include/rclcpp/waitable.hpp
index 4f48bbc238..538e61ef07 100644
--- a/rclcpp/include/rclcpp/waitable.hpp
+++ b/rclcpp/include/rclcpp/waitable.hpp
@@ -23,7 +23,7 @@
 namespace rclcpp
 {
 
-class Waitable
+class RCLCPP_PUBLIC Waitable
 {
 public:
   RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(Waitable)
@@ -34,7 +34,6 @@ class Waitable
    * This should be overridden if the Waitable contains one or more subscriptions.
    * \return The number of subscriptions associated with the Waitable.
    */
-  RCLCPP_PUBLIC
   virtual
   size_t
   get_number_of_ready_subscriptions();
@@ -45,7 +44,6 @@ class Waitable
    * This should be overridden if the Waitable contains one or more timers.
    * \return The number of timers associated with the Waitable.
    */
-  RCLCPP_PUBLIC
   virtual
   size_t
   get_number_of_ready_timers();
@@ -56,7 +54,6 @@ class Waitable
    * This should be overridden if the Waitable contains one or more clients.
    * \return The number of clients associated with the Waitable.
    */
-  RCLCPP_PUBLIC
   virtual
   size_t
   get_number_of_ready_clients();
@@ -67,7 +64,6 @@ class Waitable
    * This should be overridden if the Waitable contains one or more services.
    * \return The number of services associated with the Waitable.
    */
-  RCLCPP_PUBLIC
   virtual
   size_t
   get_number_of_ready_services();
@@ -78,7 +74,6 @@ class Waitable
    * This should be overridden if the Waitable contains one or more guard_conditions.
    * \return The number of guard_conditions associated with the Waitable.
    */
-  RCLCPP_PUBLIC
   virtual
   size_t
   get_number_of_ready_guard_conditions();
@@ -89,7 +84,6 @@ class Waitable
    * \param[in] wait_set A handle to the wait set to add the Waitable to.
    * \return `true` if the Waitable is added successfully, `false` otherwise.
    */
-  RCLCPP_PUBLIC
   virtual
   bool
   add_to_wait_set(rcl_wait_set_t * wait_set) = 0;
@@ -104,7 +98,6 @@ class Waitable
    *   and that has been waited on.
    * \return `true` if the Waitable is ready, `false` otherwise.
    */
-  RCLCPP_PUBLIC
   virtual
   bool
   is_ready(rcl_wait_set_t *) = 0;
@@ -130,7 +123,6 @@ class Waitable
    * waitable.execute();
    * ```
    */
-  RCLCPP_PUBLIC
   virtual
   void
   execute() = 0;
diff --git a/rclcpp/rclcpp-extras.cmake b/rclcpp/rclcpp-extras.cmake
index 7d3a1429fa..9bc22904a4 100644
--- a/rclcpp/rclcpp-extras.cmake
+++ b/rclcpp/rclcpp-extras.cmake
@@ -25,5 +25,6 @@ macro(_rclcpp_register_package_hook)
   endif()
 endmacro()
 
+include("${rclcpp_DIR}/configure_rclcpp.cmake")
 include("${rclcpp_DIR}/rclcpp_create_node_main.cmake")
 include("${rclcpp_DIR}/rclcpp_register_node_plugins.cmake")
diff --git a/rclcpp_action/CMakeLists.txt b/rclcpp_action/CMakeLists.txt
index 29f85680c3..f3f6a972d8 100644
--- a/rclcpp_action/CMakeLists.txt
+++ b/rclcpp_action/CMakeLists.txt
@@ -35,6 +35,7 @@ ament_target_dependencies(${PROJECT_NAME}
   "rosidl_generator_c"
   "rosidl_generator_cpp")
 
+configure_rclcpp(${PROJECT_NAME})
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
 target_compile_definitions(${PROJECT_NAME}
diff --git a/rclcpp_action/include/rclcpp_action/client.hpp b/rclcpp_action/include/rclcpp_action/client.hpp
index 0ce4b4a948..ba5ca962fa 100644
--- a/rclcpp_action/include/rclcpp_action/client.hpp
+++ b/rclcpp_action/include/rclcpp_action/client.hpp
@@ -54,14 +54,12 @@ class ClientBaseImpl;
  *
  * Internally, this class is responsible for interfacing with the `rcl_action` API.
  */
-class ClientBase : public rclcpp::Waitable
+class RCLCPP_ACTION_PUBLIC ClientBase : public rclcpp::Waitable
 {
 public:
-  RCLCPP_ACTION_PUBLIC
   virtual ~ClientBase();
 
   /// Return true if there is an action server that is ready to take goal requests.
-  RCLCPP_ACTION_PUBLIC
   bool
   action_server_is_ready() const;
 
@@ -80,42 +78,34 @@ class ClientBase : public rclcpp::Waitable
   // Waitables API
 
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   size_t
   get_number_of_ready_subscriptions() override;
 
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   size_t
   get_number_of_ready_timers() override;
 
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   size_t
   get_number_of_ready_clients() override;
 
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   size_t
   get_number_of_ready_services() override;
 
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   size_t
   get_number_of_ready_guard_conditions() override;
 
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   bool
   add_to_wait_set(rcl_wait_set_t * wait_set) override;
 
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   bool
   is_ready(rcl_wait_set_t * wait_set) override;
 
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   void
   execute() override;
 
@@ -123,7 +113,6 @@ class ClientBase : public rclcpp::Waitable
   // -----------------
 
 protected:
-  RCLCPP_ACTION_PUBLIC
   ClientBase(
     rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base,
     rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
@@ -133,7 +122,6 @@ class ClientBase : public rclcpp::Waitable
     const rcl_action_client_options_t & options);
 
   /// Wait for action_server_is_ready() to become true, or until the given timeout is reached.
-  RCLCPP_ACTION_PUBLIC
   bool
   wait_for_action_server_nanoseconds(std::chrono::nanoseconds timeout);
 
@@ -142,17 +130,14 @@ class ClientBase : public rclcpp::Waitable
   using ResponseCallback = std::function<void (std::shared_ptr<void> response)>;
 
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   rclcpp::Logger get_logger();
 
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   virtual
   GoalID
   generate_goal_id();
 
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   virtual
   void
   send_goal_request(
@@ -160,7 +145,6 @@ class ClientBase : public rclcpp::Waitable
     ResponseCallback callback);
 
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   virtual
   void
   send_result_request(
@@ -168,7 +152,6 @@ class ClientBase : public rclcpp::Waitable
     ResponseCallback callback);
 
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   virtual
   void
   send_cancel_request(
@@ -181,7 +164,6 @@ class ClientBase : public rclcpp::Waitable
   create_goal_response() const = 0;
 
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   virtual
   void
   handle_goal_response(
@@ -194,7 +176,6 @@ class ClientBase : public rclcpp::Waitable
   create_result_response() const = 0;
 
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   virtual
   void
   handle_result_response(
@@ -207,7 +188,6 @@ class ClientBase : public rclcpp::Waitable
   create_cancel_response() const = 0;
 
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   virtual
   void
   handle_cancel_response(
diff --git a/rclcpp_action/include/rclcpp_action/server.hpp b/rclcpp_action/include/rclcpp_action/server.hpp
index b1bb47a4f8..6129d94314 100644
--- a/rclcpp_action/include/rclcpp_action/server.hpp
+++ b/rclcpp_action/include/rclcpp_action/server.hpp
@@ -67,10 +67,9 @@ enum class CancelResponse : int8_t
  *
  * Internally, this class is responsible for interfacing with the `rcl_action` API.
  */
-class ServerBase : public rclcpp::Waitable
+class RCLCPP_ACTION_PUBLIC ServerBase : public rclcpp::Waitable
 {
 public:
-  RCLCPP_ACTION_PUBLIC
   virtual ~ServerBase();
 
   // -------------
@@ -78,49 +77,41 @@ class ServerBase : public rclcpp::Waitable
 
   /// Return the number of subscriptions used to implement an action server
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   size_t
   get_number_of_ready_subscriptions() override;
 
   /// Return the number of timers used to implement an action server
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   size_t
   get_number_of_ready_timers() override;
 
   /// Return the number of service clients used to implement an action server
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   size_t
   get_number_of_ready_clients() override;
 
   /// Return the number of service servers used to implement an action server
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   size_t
   get_number_of_ready_services() override;
 
   /// Return the number of guard conditions used to implement an action server
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   size_t
   get_number_of_ready_guard_conditions() override;
 
   /// Add all entities to a wait set.
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   bool
   add_to_wait_set(rcl_wait_set_t * wait_set) override;
 
   /// Return true if any entity belonging to the action server is ready to be executed.
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   bool
   is_ready(rcl_wait_set_t *) override;
 
   /// Act on entities in the wait set which are ready to be acted upon.
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   void
   execute() override;
 
@@ -128,7 +119,6 @@ class ServerBase : public rclcpp::Waitable
   // -----------------
 
 protected:
-  RCLCPP_ACTION_PUBLIC
   ServerBase(
     rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base,
     rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock,
@@ -143,7 +133,6 @@ class ServerBase : public rclcpp::Waitable
   // ServerBase will call this function when a goal request is received.
   // The subclass should convert to the real type and call a user's callback.
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   virtual
   std::pair<GoalResponse, std::shared_ptr<void>>
   call_handle_goal_callback(GoalID &, std::shared_ptr<void> request) = 0;
@@ -152,28 +141,24 @@ class ServerBase : public rclcpp::Waitable
   // each goal id.
   // The subclass should look up a goal handle and call the user's callback.
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   virtual
   CancelResponse
   call_handle_cancel_callback(const GoalID & uuid) = 0;
 
   /// Given a goal request message, return the UUID contained within.
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   virtual
   GoalID
   get_goal_id_from_goal_request(void * message) = 0;
 
   /// Create an empty goal request message so it can be taken from a lower layer.
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   virtual
   std::shared_ptr<void>
   create_goal_request() = 0;
 
   /// Call user callback to inform them a goal has been accepted.
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   virtual
   void
   call_goal_accepted_callback(
@@ -182,42 +167,35 @@ class ServerBase : public rclcpp::Waitable
 
   /// Given a result request message, return the UUID contained within.
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   virtual
   GoalID
   get_goal_id_from_result_request(void * message) = 0;
 
   /// Create an empty goal request message so it can be taken from a lower layer.
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   virtual
   std::shared_ptr<void>
   create_result_request() = 0;
 
   /// Create an empty goal result message so it can be sent as a reply in a lower layer
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   virtual
   std::shared_ptr<void>
   create_result_response(decltype(action_msgs::msg::GoalStatus::status) status) = 0;
 
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   void
   publish_status();
 
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   void
   notify_goal_terminal_state();
 
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   void
   publish_result(const GoalID & uuid, std::shared_ptr<void> result_msg);
 
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   void
   publish_feedback(std::shared_ptr<void> feedback_msg);
 
@@ -227,25 +205,21 @@ class ServerBase : public rclcpp::Waitable
 private:
   /// Handle a request to add a new goal to the server
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   void
   execute_goal_request_received();
 
   /// Handle a request to cancel goals on the server
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   void
   execute_cancel_request_received();
 
   /// Handle a request to get the result of an action
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   void
   execute_result_request_received();
 
   /// Handle a timeout indicating a completed goal should be forgotten by the server
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   void
   execute_check_expired_goals();
 
diff --git a/rclcpp_action/include/rclcpp_action/server_goal_handle.hpp b/rclcpp_action/include/rclcpp_action/server_goal_handle.hpp
index 5b06fc6059..a26c6efe63 100644
--- a/rclcpp_action/include/rclcpp_action/server_goal_handle.hpp
+++ b/rclcpp_action/include/rclcpp_action/server_goal_handle.hpp
@@ -39,28 +39,24 @@ namespace rclcpp_action
  *
  * Internally, this class is responsible for interfacing with the `rcl_action` API.
  */
-class ServerGoalHandleBase
+class RCLCPP_ACTION_PUBLIC ServerGoalHandleBase
 {
 public:
   /// Indicate if client has requested this goal be cancelled.
   /// \return true if a cancelation request has been accepted for this goal.
-  RCLCPP_ACTION_PUBLIC
   bool
   is_canceling() const;
 
   /// Indicate if goal is pending or executing.
   /// \return false if goal has reached a terminal state.
-  RCLCPP_ACTION_PUBLIC
   bool
   is_active() const;
 
   /// Indicate if goal is executing.
   /// \return true only if the goal is in an executing state.
-  RCLCPP_ACTION_PUBLIC
   bool
   is_executing() const;
 
-  RCLCPP_ACTION_PUBLIC
   virtual
   ~ServerGoalHandleBase();
 
@@ -69,7 +65,6 @@ class ServerGoalHandleBase
   // API for communication between ServerGoalHandleBase and ServerGoalHandle<>
 
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   ServerGoalHandleBase(
     std::shared_ptr<rcl_action_goal_handle_t> rcl_handle
   )
@@ -78,33 +73,27 @@ class ServerGoalHandleBase
   }
 
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   void
   _set_aborted();
 
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   void
   _set_succeeded();
 
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   void
   _set_canceling();
 
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   void
   _set_canceled();
 
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   void
   _set_executing();
 
   /// Transition the goal to canceled state if it never reached a terminal state.
   /// \internal
-  RCLCPP_ACTION_PUBLIC
   bool
   try_canceling() noexcept;
 
diff --git a/rclcpp_lifecycle/CMakeLists.txt b/rclcpp_lifecycle/CMakeLists.txt
index 10bc512848..879c64e99a 100644
--- a/rclcpp_lifecycle/CMakeLists.txt
+++ b/rclcpp_lifecycle/CMakeLists.txt
@@ -33,6 +33,7 @@ ament_target_dependencies(rclcpp_lifecycle
   "rosidl_typesupport_cpp"
 )
 
+configure_rclcpp(${PROJECT_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(rclcpp_lifecycle PRIVATE "RCLCPP_LIFECYCLE_BUILDING_DLL")
diff --git a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
index 22b98a98c2..7323b6f3ae 100644
--- a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
+++ b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
@@ -66,7 +66,7 @@ namespace rclcpp_lifecycle
 /**
  * has lifecycle nodeinterface for configuring this node.
  */
-class LifecycleNode : public node_interfaces::LifecycleNodeInterface,
+class RCLCPP_LIFECYCLE_PUBLIC LifecycleNode : public node_interfaces::LifecycleNodeInterface,
   public std::enable_shared_from_this<LifecycleNode>
 {
 public:
@@ -78,7 +78,6 @@ class LifecycleNode : public node_interfaces::LifecycleNodeInterface,
    * \param[in] namespace_ Namespace of the node.
    * \param[in] options Additional options to control creation of the node.
    */
-  RCLCPP_LIFECYCLE_PUBLIC
   explicit LifecycleNode(
     const std::string & node_name,
     const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
@@ -90,40 +89,33 @@ class LifecycleNode : public node_interfaces::LifecycleNodeInterface,
    * \param[in] context The context for the node (usually represents the state of a process).
    * \param[in] options Additional options to control creation of the node.
    */
-  RCLCPP_LIFECYCLE_PUBLIC
   LifecycleNode(
     const std::string & node_name,
     const std::string & namespace_,
     const rclcpp::NodeOptions & options);
 
-  RCLCPP_LIFECYCLE_PUBLIC
   virtual ~LifecycleNode();
 
   /// Get the name of the node.
   // \return The name of the node.
-  RCLCPP_LIFECYCLE_PUBLIC
   const char *
   get_name() const;
 
   /// Get the namespace of the node.
   // \return The namespace of the node.
-  RCLCPP_LIFECYCLE_PUBLIC
   const char *
   get_namespace() const;
 
   /// Get the logger of the node.
   /** \return The logger of the node. */
-  RCLCPP_LIFECYCLE_PUBLIC
   rclcpp::Logger
   get_logger() const;
 
   /// Create and return a callback group.
-  RCLCPP_LIFECYCLE_PUBLIC
   rclcpp::callback_group::CallbackGroup::SharedPtr
   create_callback_group(rclcpp::callback_group::CallbackGroupType group_type);
 
   /// Return the list of callback groups in the node.
-  RCLCPP_LIFECYCLE_PUBLIC
   const std::vector<rclcpp::callback_group::CallbackGroup::WeakPtr> &
   get_callback_groups() const;
 
@@ -246,23 +238,18 @@ class LifecycleNode : public node_interfaces::LifecycleNodeInterface,
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_services_default,
     rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
 
-  RCLCPP_LIFECYCLE_PUBLIC
   std::vector<rcl_interfaces::msg::SetParametersResult>
   set_parameters(const std::vector<rclcpp::Parameter> & parameters);
 
-  RCLCPP_LIFECYCLE_PUBLIC
   rcl_interfaces::msg::SetParametersResult
   set_parameters_atomically(const std::vector<rclcpp::Parameter> & parameters);
 
-  RCLCPP_LIFECYCLE_PUBLIC
   std::vector<rclcpp::Parameter>
   get_parameters(const std::vector<std::string> & names) const;
 
-  RCLCPP_LIFECYCLE_PUBLIC
   rclcpp::Parameter
   get_parameter(const std::string & name) const;
 
-  RCLCPP_LIFECYCLE_PUBLIC
   bool
   get_parameter(
     const std::string & name,
@@ -272,15 +259,12 @@ class LifecycleNode : public node_interfaces::LifecycleNodeInterface,
   bool
   get_parameter(const std::string & name, ParameterT & parameter) const;
 
-  RCLCPP_LIFECYCLE_PUBLIC
   std::vector<rcl_interfaces::msg::ParameterDescriptor>
   describe_parameters(const std::vector<std::string> & names) const;
 
-  RCLCPP_LIFECYCLE_PUBLIC
   std::vector<uint8_t>
   get_parameter_types(const std::vector<std::string> & names) const;
 
-  RCLCPP_LIFECYCLE_PUBLIC
   rcl_interfaces::msg::ListParametersResult
   list_parameters(const std::vector<std::string> & prefixes, uint64_t depth) const;
 
@@ -293,23 +277,18 @@ class LifecycleNode : public node_interfaces::LifecycleNodeInterface,
   void
   register_param_change_callback(CallbackT && callback);
 
-  RCLCPP_LIFECYCLE_PUBLIC
   std::vector<std::string>
   get_node_names() const;
 
-  RCLCPP_LIFECYCLE_PUBLIC
   std::map<std::string, std::vector<std::string>>
   get_topic_names_and_types(bool no_demangle = false) const;
 
-  RCLCPP_LIFECYCLE_PUBLIC
   std::map<std::string, std::vector<std::string>>
   get_service_names_and_types() const;
 
-  RCLCPP_LIFECYCLE_PUBLIC
   size_t
   count_publishers(const std::string & topic_name) const;
 
-  RCLCPP_LIFECYCLE_PUBLIC
   size_t
   count_subscribers(const std::string & topic_name) const;
 
@@ -318,7 +297,6 @@ class LifecycleNode : public node_interfaces::LifecycleNodeInterface,
    * The Event object is scoped and therefore to return the load just let it go
    * out of scope.
    */
-  RCLCPP_LIFECYCLE_PUBLIC
   rclcpp::Event::SharedPtr
   get_graph_event();
 
@@ -329,72 +307,58 @@ class LifecycleNode : public node_interfaces::LifecycleNodeInterface,
    * \throws EventNotRegisteredError if the given event was not acquired with
    *   get_graph_event().
    */
-  RCLCPP_LIFECYCLE_PUBLIC
   void
   wait_for_graph_change(
     rclcpp::Event::SharedPtr event,
     std::chrono::nanoseconds timeout);
 
-  RCLCPP_LIFECYCLE_PUBLIC
   rclcpp::Clock::SharedPtr
   get_clock();
 
-  RCLCPP_LIFECYCLE_PUBLIC
   rclcpp::Time
   now();
 
   /// Return the Node's internal NodeBaseInterface implementation.
-  RCLCPP_LIFECYCLE_PUBLIC
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
   get_node_base_interface();
 
   /// Return the Node's internal NodeClockInterface implementation.
-  RCLCPP_LIFECYCLE_PUBLIC
   rclcpp::node_interfaces::NodeClockInterface::SharedPtr
   get_node_clock_interface();
 
   /// Return the Node's internal NodeGraphInterface implementation.
-  RCLCPP_LIFECYCLE_PUBLIC
   rclcpp::node_interfaces::NodeGraphInterface::SharedPtr
   get_node_graph_interface();
 
   /// Return the Node's internal NodeTimersInterface implementation.
-  RCLCPP_LIFECYCLE_PUBLIC
   rclcpp::node_interfaces::NodeTimersInterface::SharedPtr
   get_node_timers_interface();
 
   /// Return the Node's internal NodeTopicsInterface implementation.
-  RCLCPP_LIFECYCLE_PUBLIC
   rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr
   get_node_topics_interface();
 
   /// Return the Node's internal NodeServicesInterface implementation.
-  RCLCPP_LIFECYCLE_PUBLIC
   rclcpp::node_interfaces::NodeServicesInterface::SharedPtr
   get_node_services_interface();
 
   /// Return the Node's internal NodeParametersInterface implementation.
-  RCLCPP_LIFECYCLE_PUBLIC
   rclcpp::node_interfaces::NodeParametersInterface::SharedPtr
   get_node_parameters_interface();
 
   /// Return the Node's internal NodeWaitablesInterface implementation.
-  RCLCPP_LIFECYCLE_PUBLIC
   rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr
   get_node_waitables_interface();
 
   //
   // LIFECYCLE COMPONENTS
   //
-  RCLCPP_LIFECYCLE_PUBLIC
   const State &
   get_current_state();
 
-  RCLCPP_LIFECYCLE_PUBLIC
   std::vector<State>
   get_available_states();
 
-  RCLCPP_LIFECYCLE_PUBLIC
   std::vector<Transition>
   get_available_transitions();
 
@@ -402,101 +366,78 @@ class LifecycleNode : public node_interfaces::LifecycleNodeInterface,
   /*
    * return the new state after this transition
    */
-  RCLCPP_LIFECYCLE_PUBLIC
   const State &
   trigger_transition(const Transition & transition);
 
-  RCLCPP_LIFECYCLE_PUBLIC
   const State &
   trigger_transition(
     const Transition & transition, LifecycleNodeInterface::CallbackReturn & cb_return_code);
 
-  RCLCPP_LIFECYCLE_PUBLIC
   const State &
   trigger_transition(uint8_t transition_id);
 
-  RCLCPP_LIFECYCLE_PUBLIC
   const State &
   trigger_transition(
     uint8_t transition_id, LifecycleNodeInterface::CallbackReturn & cb_return_code);
 
-  RCLCPP_LIFECYCLE_PUBLIC
   const State &
   configure();
 
-  RCLCPP_LIFECYCLE_PUBLIC
   const State &
   configure(LifecycleNodeInterface::CallbackReturn & cb_return_code);
 
-  RCLCPP_LIFECYCLE_PUBLIC
   const State &
   cleanup();
 
-  RCLCPP_LIFECYCLE_PUBLIC
   const State &
   cleanup(LifecycleNodeInterface::CallbackReturn & cb_return_code);
 
-  RCLCPP_LIFECYCLE_PUBLIC
   const State &
   activate();
 
-  RCLCPP_LIFECYCLE_PUBLIC
   const State &
   activate(LifecycleNodeInterface::CallbackReturn & cb_return_code);
 
-  RCLCPP_LIFECYCLE_PUBLIC
   const State &
   deactivate();
 
-  RCLCPP_LIFECYCLE_PUBLIC
   const State &
   deactivate(LifecycleNodeInterface::CallbackReturn & cb_return_code);
 
-  RCLCPP_LIFECYCLE_PUBLIC
   const State &
   shutdown();
 
-  RCLCPP_LIFECYCLE_PUBLIC
   const State &
   shutdown(LifecycleNodeInterface::CallbackReturn & cb_return_code);
 
-  RCLCPP_LIFECYCLE_PUBLIC
   bool
   register_on_configure(std::function<LifecycleNodeInterface::CallbackReturn(const State &)> fcn);
 
-  RCLCPP_LIFECYCLE_PUBLIC
   bool
   register_on_cleanup(std::function<LifecycleNodeInterface::CallbackReturn(const State &)> fcn);
 
-  RCLCPP_LIFECYCLE_PUBLIC
   bool
   register_on_shutdown(std::function<LifecycleNodeInterface::CallbackReturn(const State &)> fcn);
 
-  RCLCPP_LIFECYCLE_PUBLIC
   bool
   register_on_activate(std::function<LifecycleNodeInterface::CallbackReturn(const State &)> fcn);
 
-  RCLCPP_LIFECYCLE_PUBLIC
   bool
   register_on_deactivate(std::function<LifecycleNodeInterface::CallbackReturn(const State &)> fcn);
 
-  RCLCPP_LIFECYCLE_PUBLIC
   bool
   register_on_error(std::function<LifecycleNodeInterface::CallbackReturn(const State &)> fcn);
 
 protected:
-  RCLCPP_LIFECYCLE_PUBLIC
   void
   add_publisher_handle(std::shared_ptr<rclcpp_lifecycle::LifecyclePublisherInterface> pub);
 
-  RCLCPP_LIFECYCLE_PUBLIC
   void
   add_timer_handle(std::shared_ptr<rclcpp::TimerBase> timer);
 
 private:
   RCLCPP_DISABLE_COPY(LifecycleNode)
 
-  RCLCPP_LIFECYCLE_PUBLIC
   bool
   group_in_node(rclcpp::callback_group::CallbackGroup::SharedPtr group);