diff --git a/src/python_bindings/sip/CMakeLists.txt b/src/python_bindings/sip/CMakeLists.txt
index 0921754bcb..4dabd5df79 100644
--- a/src/python_bindings/sip/CMakeLists.txt
+++ b/src/python_bindings/sip/CMakeLists.txt
@@ -42,7 +42,7 @@ find_package(python_qt_binding REQUIRED)
 include(${python_qt_binding_EXTRAS_DIR}/sip_helper.cmake)
 
 # maintain context for different named target
-set(rviz_sip_INCLUDE_DIRS ${rviz_INCLUDE_DIRS} "${PROJECT_SOURCE_DIR}/src" ${catkin_INCLUDE_DIRS})
+set(rviz_sip_INCLUDE_DIRS ${rviz_INCLUDE_DIRS} "${PROJECT_SOURCE_DIR}/src" ${catkin_INCLUDE_DIRS} $<TARGET_PROPERTY:rviz,EXPORT_HEADER_DIR>)
 set(rviz_sip_LIBRARIES ${rviz_LIBRARIES} ${PROJECT_NAME})
 set(rviz_sip_LIBRARY_DIRS ${rviz_LIBRARY_DIRS} ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_LIB_DESTINATION})
 if (MSVC)
diff --git a/src/rviz/CMakeLists.txt b/src/rviz/CMakeLists.txt
index 5304d14fa8..4a2142e601 100644
--- a/src/rviz/CMakeLists.txt
+++ b/src/rviz/CMakeLists.txt
@@ -129,6 +129,10 @@ add_library(${PROJECT_NAME}
   ${ENV_CONFIG_FILE}
 )
 
+include(GenerateExportHeader)
+generate_export_header(${PROJECT_NAME} EXPORT_FILE_NAME rviz/${PROJECT_NAME}_export.h)
+target_include_directories(${PROJECT_NAME} INTERFACE "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>")
+set_target_properties(${PROJECT_NAME} PROPERTIES EXPORT_HEADER_DIR "${CMAKE_CURRENT_BINARY_DIR}")
 if(NOT WIN32)
   set_target_properties(${PROJECT_NAME} PROPERTIES COMPILE_FLAGS "-std=c++11")
 endif()
@@ -177,5 +181,10 @@ install(DIRECTORY ./
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
   FILES_MATCHING PATTERN "*.h")
 
+#catkin_lint: ignore_once missing_file
+install(FILES
+  ${CMAKE_CURRENT_BINARY_DIR}/rviz/${PROJECT_NAME}_export.h
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
+
 install(TARGETS executable
   DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
diff --git a/src/rviz/default_plugin/CMakeLists.txt b/src/rviz/default_plugin/CMakeLists.txt
index 4445d0df35..08e945080e 100644
--- a/src/rviz/default_plugin/CMakeLists.txt
+++ b/src/rviz/default_plugin/CMakeLists.txt
@@ -70,6 +70,9 @@ set(SOURCE_FILES
 )
 
 add_library(${rviz_DEFAULT_PLUGIN_LIBRARY_TARGET_NAME} ${SOURCE_FILES})
+include(GenerateExportHeader)
+generate_export_header(${rviz_DEFAULT_PLUGIN_LIBRARY_TARGET_NAME} EXPORT_FILE_NAME rviz/default_plugin/${rviz_DEFAULT_PLUGIN_LIBRARY_TARGET_NAME}_export.h)
+target_include_directories(${rviz_DEFAULT_PLUGIN_LIBRARY_TARGET_NAME} INTERFACE "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>")
 if(NOT WIN32)
   set_target_properties(${rviz_DEFAULT_PLUGIN_LIBRARY_TARGET_NAME}
     PROPERTIES COMPILE_FLAGS "-std=c++11")
@@ -82,6 +85,11 @@ target_link_libraries(${rviz_DEFAULT_PLUGIN_LIBRARY_TARGET_NAME}
   ${QT_LIBRARIES}
 )
 
+#catkin_lint: ignore_once missing_file
+install(FILES
+  ${CMAKE_CURRENT_BINARY_DIR}/rviz/default_plugin/${rviz_DEFAULT_PLUGIN_LIBRARY_TARGET_NAME}_export.h
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}/default_plugin/)
+
 install(TARGETS ${rviz_DEFAULT_PLUGIN_LIBRARY_TARGET_NAME}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
diff --git a/src/rviz/default_plugin/interactive_markers/interactive_marker.h b/src/rviz/default_plugin/interactive_markers/interactive_marker.h
index fc0e858b1a..0a8c225c12 100644
--- a/src/rviz/default_plugin/interactive_markers/interactive_marker.h
+++ b/src/rviz/default_plugin/interactive_markers/interactive_marker.h
@@ -50,6 +50,7 @@
 #include "rviz/selection/forwards.h"
 #include "rviz/ogre_helpers/axes.h"
 
+#include "rviz/default_plugin/rviz_default_plugin_export.h"
 #include "rviz/default_plugin/interactive_markers/interactive_marker_control.h"
 #include "rviz/properties/status_property.h"
 
@@ -64,7 +65,7 @@ namespace rviz
 class DisplayContext;
 class InteractiveMarkerDisplay;
 
-class InteractiveMarker : public QObject
+class RVIZ_DEFAULT_PLUGIN_EXPORT InteractiveMarker : public QObject
 {
 Q_OBJECT
 public:
diff --git a/src/rviz/display.h b/src/rviz/display.h
index c17ae5cca0..e3765c1f60 100644
--- a/src/rviz/display.h
+++ b/src/rviz/display.h
@@ -37,6 +37,7 @@
 
 #include "rviz/properties/status_property.h"
 #include "rviz/properties/bool_property.h"
+#include "rviz/rviz_export.h"
 
 #include <QIcon>
 #include <QSet>
@@ -60,7 +61,7 @@ class StatusList;
 class DisplayContext;
 class PanelDockWidget;
 
-class Display: public BoolProperty
+class RVIZ_EXPORT Display: public BoolProperty
 {
 Q_OBJECT
 public:
diff --git a/src/rviz/display_group.h b/src/rviz/display_group.h
index 2edb336b4c..8251f899e2 100644
--- a/src/rviz/display_group.h
+++ b/src/rviz/display_group.h
@@ -30,6 +30,7 @@
 #define DISPLAY_GROUP_H
 
 #include "display.h"
+#include "rviz/rviz_export.h"
 
 namespace rviz
 {
@@ -44,7 +45,7 @@ class DisplayFactory;
  * Property superclass stores the non-Display properties and this
  * class stores the Display objects in a separate list.  The
  * separation is enforced in addChild(). */
-class DisplayGroup: public Display
+class RVIZ_EXPORT DisplayGroup: public Display
 {
 Q_OBJECT
 public:
diff --git a/src/rviz/frame_position_tracking_view_controller.h b/src/rviz/frame_position_tracking_view_controller.h
index 5fdfc9433a..993db9a896 100644
--- a/src/rviz/frame_position_tracking_view_controller.h
+++ b/src/rviz/frame_position_tracking_view_controller.h
@@ -34,6 +34,7 @@
 #include <OgreVector3.h>
 
 #include "rviz/view_controller.h"
+#include "rviz/rviz_export.h"
 
 namespace rviz
 {
@@ -42,7 +43,7 @@ class TfFrameProperty;
 
 /** @brief Base class of ViewControllers which have a "Target Frame"
  * which is a TF frame whose position they track. */
-class FramePositionTrackingViewController: public ViewController
+class RVIZ_EXPORT FramePositionTrackingViewController: public ViewController
 {
 Q_OBJECT
 public:
diff --git a/src/rviz/image/image_display_base.h b/src/rviz/image/image_display_base.h
index 005888d853..06b4c5ae51 100644
--- a/src/rviz/image/image_display_base.h
+++ b/src/rviz/image/image_display_base.h
@@ -46,6 +46,7 @@
 # include "rviz/properties/int_property.h"
 
 # include "rviz/display.h"
+# include "rviz/rviz_export.h"
 #endif
 
 namespace rviz
@@ -57,7 +58,7 @@ namespace rviz
  * it handles subscribing and unsubscribing when the display is
  * enabled or disabled.  */
 
-class ImageDisplayBase : public Display
+class RVIZ_EXPORT ImageDisplayBase : public Display
 {
 Q_OBJECT
 public:
diff --git a/src/rviz/message_filter_display.h b/src/rviz/message_filter_display.h
index 39745a69a9..9d6bbde9cc 100644
--- a/src/rviz/message_filter_display.h
+++ b/src/rviz/message_filter_display.h
@@ -42,6 +42,7 @@
 #include "rviz/properties/ros_topic_property.h"
 
 #include "rviz/display.h"
+#include "rviz/rviz_export.h"
 
 namespace rviz
 {
@@ -49,7 +50,7 @@ namespace rviz
 /** @brief Helper superclass for MessageFilterDisplay, needed because
  * Qt's moc and c++ templates don't work nicely together.  Not
  * intended to be used directly. */
-class _RosTopicDisplay: public Display
+class RVIZ_EXPORT _RosTopicDisplay: public Display
 {
 Q_OBJECT
 public:
diff --git a/src/rviz/ogre_helpers/axes.h b/src/rviz/ogre_helpers/axes.h
index 69e9dc8bbc..3a67ed2bfe 100644
--- a/src/rviz/ogre_helpers/axes.h
+++ b/src/rviz/ogre_helpers/axes.h
@@ -31,6 +31,7 @@
 #define OGRE_TOOLS_AXES_H
 
 #include "object.h"
+#include "rviz/rviz_export.h"
 
 #include <stddef.h>
 #include <stdint.h>
@@ -55,7 +56,7 @@ class Shape;
  * \class Axes
  * \brief An object that displays a set of X/Y/Z axes, with X=Red, Y=Green, Z=Blue
  */
-class Axes : public Object
+class RVIZ_EXPORT Axes : public Object
 {
 public:
   /**
diff --git a/src/rviz/ogre_helpers/object.h b/src/rviz/ogre_helpers/object.h
index 0391ac0dd4..9809677922 100644
--- a/src/rviz/ogre_helpers/object.h
+++ b/src/rviz/ogre_helpers/object.h
@@ -30,6 +30,8 @@
 #ifndef OGRE_TOOLS_OBJECT_H
 #define OGRE_TOOLS_OBJECT_H
 
+#include "rviz/rviz_export.h"
+
 namespace Ogre
 {
 class SceneManager;
@@ -46,7 +48,7 @@ namespace rviz
  * \class Object
  * \brief Base class for visible objects, providing a minimal generic interface.
  */
-class Object
+class RVIZ_EXPORT Object
 {
 public:
   /**
diff --git a/src/rviz/ogre_helpers/render_system.h b/src/rviz/ogre_helpers/render_system.h
index c9432379cd..88d348371f 100644
--- a/src/rviz/ogre_helpers/render_system.h
+++ b/src/rviz/ogre_helpers/render_system.h
@@ -39,6 +39,8 @@
 #include <OgreRoot.h>
 #include <stdint.h>
 
+#include "rviz/rviz_export.h"
+
 #ifndef _WIN32
 # pragma GCC diagnostic pop
 #endif
@@ -52,7 +54,7 @@ namespace Ogre
 namespace rviz
 {
 
-class RenderSystem
+class RVIZ_EXPORT RenderSystem
 {
 public:
 
diff --git a/src/rviz/panel.h b/src/rviz/panel.h
index 15210d8356..9686afe48f 100644
--- a/src/rviz/panel.h
+++ b/src/rviz/panel.h
@@ -32,13 +32,14 @@
 #include <QWidget>
 
 #include "rviz/config.h"
+#include "rviz/rviz_export.h"
 
 namespace rviz
 {
 
 class VisualizationManager;
 
-class Panel: public QWidget
+class RVIZ_EXPORT Panel: public QWidget
 {
 Q_OBJECT
 public:
diff --git a/src/rviz/panel_dock_widget.h b/src/rviz/panel_dock_widget.h
index 5888f6d4e3..f395d62515 100644
--- a/src/rviz/panel_dock_widget.h
+++ b/src/rviz/panel_dock_widget.h
@@ -31,6 +31,7 @@
 #define RVIZ_PANEL_DOCK_WIDGET_H
 
 #include "rviz/config.h"
+#include "rviz/rviz_export.h"
 
 #include <QDockWidget>
 #include <QLabel>
@@ -43,7 +44,7 @@ namespace rviz
  * Use setContentWidget() instead of QDockWidget::setWidget() if you
  * want the PanelDockWidget to be destroyed when the content widget is
  * destroyed. */
-class PanelDockWidget: public QDockWidget
+class RVIZ_EXPORT PanelDockWidget: public QDockWidget
 {
 Q_OBJECT
 public:
diff --git a/src/rviz/properties/bool_property.h b/src/rviz/properties/bool_property.h
index 045f5fa416..d4194c69f5 100644
--- a/src/rviz/properties/bool_property.h
+++ b/src/rviz/properties/bool_property.h
@@ -30,12 +30,13 @@
 #define BOOL_PROPERTY_H
 
 #include "rviz/properties/property.h"
+#include "rviz/rviz_export.h"
 
 namespace rviz
 {
 
 /** @brief Property specialized to provide getter for booleans. */
-class BoolProperty: public Property
+class RVIZ_EXPORT BoolProperty: public Property
 {
 Q_OBJECT
 public:
diff --git a/src/rviz/properties/property.h b/src/rviz/properties/property.h
index 5643031f62..2b372325b4 100644
--- a/src/rviz/properties/property.h
+++ b/src/rviz/properties/property.h
@@ -36,6 +36,7 @@
 #include <QVariant>
 
 #include "rviz/config.h"
+#include "rviz/rviz_export.h"
 
 class QModelIndex;
 class QPainter;
@@ -97,7 +98,7 @@ class PropertyTreeModel;
  * To show a Property tree in a PropertyTreeWidget, wrap the root
  * Property in a PropertyTreeModel and call
  * PropertyTreeWidget::setModel() with it. */
-class Property: public QObject
+class RVIZ_EXPORT Property: public QObject
 {
 Q_OBJECT
 public:
diff --git a/src/rviz/properties/property_tree_widget.h b/src/rviz/properties/property_tree_widget.h
index 8d0a06c97c..437857a5ee 100644
--- a/src/rviz/properties/property_tree_widget.h
+++ b/src/rviz/properties/property_tree_widget.h
@@ -33,6 +33,7 @@
 
 #include "rviz/config.h"
 #include "rviz/properties/property_tree_model.h"
+#include "rviz/rviz_export.h"
 
 namespace rviz
 {
@@ -40,7 +41,7 @@ namespace rviz
 class Property;
 class SplitterHandle;
 
-class PropertyTreeWidget: public QTreeView
+class RVIZ_EXPORT PropertyTreeWidget: public QTreeView
 {
 Q_OBJECT
 public:
diff --git a/src/rviz/properties/ros_topic_property.h b/src/rviz/properties/ros_topic_property.h
index 0a5a485b5c..7729e9b213 100644
--- a/src/rviz/properties/ros_topic_property.h
+++ b/src/rviz/properties/ros_topic_property.h
@@ -32,11 +32,12 @@
 #include <string>
 
 #include "rviz/properties/editable_enum_property.h"
+#include "rviz/rviz_export.h"
 
 namespace rviz
 {
 
-class RosTopicProperty: public EditableEnumProperty
+class RVIZ_EXPORT RosTopicProperty: public EditableEnumProperty
 {
 Q_OBJECT
 public:
diff --git a/src/rviz/properties/tf_frame_property.h b/src/rviz/properties/tf_frame_property.h
index f9dde17399..db1519f959 100644
--- a/src/rviz/properties/tf_frame_property.h
+++ b/src/rviz/properties/tf_frame_property.h
@@ -32,13 +32,14 @@
 #include <string>
 
 #include "rviz/properties/editable_enum_property.h"
+#include "rviz/rviz_export.h"
 
 namespace rviz
 {
 
 class FrameManager;
 
-class TfFrameProperty: public EditableEnumProperty
+class RVIZ_EXPORT TfFrameProperty: public EditableEnumProperty
 {
 Q_OBJECT
 public:
diff --git a/src/rviz/properties/vector_property.h b/src/rviz/properties/vector_property.h
index e7eb00d1f2..6934de615b 100644
--- a/src/rviz/properties/vector_property.h
+++ b/src/rviz/properties/vector_property.h
@@ -32,11 +32,12 @@
 #include <OgreVector3.h>
 
 #include "rviz/properties/property.h"
+#include "rviz/rviz_export.h"
 
 namespace rviz
 {
 
-class VectorProperty: public Property
+class RVIZ_EXPORT VectorProperty: public Property
 {
 Q_OBJECT
 public:
diff --git a/src/rviz/selection/selection_handler.h b/src/rviz/selection/selection_handler.h
index 32b30535ec..ea5c43a285 100644
--- a/src/rviz/selection/selection_handler.h
+++ b/src/rviz/selection/selection_handler.h
@@ -44,6 +44,7 @@
 #include "rviz/selection/selection_handler.h"
 #include "rviz/viewport_mouse_event.h"
 #include "rviz/interactive_object.h"
+#include "rviz/rviz_export.h"
 
 namespace Ogre
 {
@@ -61,7 +62,7 @@ class ViewportMouseEvent;
 
 typedef std::vector<Ogre::AxisAlignedBox> V_AABB;
 
-class SelectionHandler
+class RVIZ_EXPORT SelectionHandler
 {
 public:
   SelectionHandler( DisplayContext* context );
diff --git a/src/rviz/selection/selection_manager.h b/src/rviz/selection/selection_manager.h
index 6f653786fd..0cd8713430 100644
--- a/src/rviz/selection/selection_manager.h
+++ b/src/rviz/selection/selection_manager.h
@@ -36,6 +36,7 @@
 
 #include "forwards.h"
 #include "selection_handler.h"
+#include "rviz/rviz_export.h"
 
 #ifndef Q_MOC_RUN
 #include <boost/shared_ptr.hpp>
@@ -77,7 +78,7 @@ class PropertyTreeModel;
 class ViewportMouseEvent;
 class VisualizationManager;
 
-class SelectionManager: public QObject, public Ogre::MaterialManager::Listener, public Ogre::RenderQueueListener
+class RVIZ_EXPORT SelectionManager: public QObject, public Ogre::MaterialManager::Listener, public Ogre::RenderQueueListener
 {
 Q_OBJECT
 public:
diff --git a/src/rviz/tool.h b/src/rviz/tool.h
index 66db59a434..fdb2ca8f38 100644
--- a/src/rviz/tool.h
+++ b/src/rviz/tool.h
@@ -36,6 +36,7 @@
 #include <QObject>
 
 #include "rviz/config.h"
+#include "rviz/rviz_export.h"
 
 class QMouseEvent;
 class QKeyEvent;
@@ -52,7 +53,7 @@ class Property;
 class RenderPanel;
 class ViewportMouseEvent;
 
-class Tool : public QObject
+class RVIZ_EXPORT Tool : public QObject
 {
 Q_OBJECT
 public:
diff --git a/src/rviz/tool_manager.h b/src/rviz/tool_manager.h
index 60b2cf72a6..ba6f4d12ed 100644
--- a/src/rviz/tool_manager.h
+++ b/src/rviz/tool_manager.h
@@ -35,6 +35,7 @@
 
 #include "rviz/pluginlib_factory.h"
 #include "rviz/tool.h"
+#include "rviz/rviz_export.h"
 
 class QKeyEvent;
 
@@ -44,7 +45,7 @@ class DisplayContext;
 class PropertyTreeModel;
 class RenderPanel;
 
-class ToolManager: public QObject
+class RVIZ_EXPORT ToolManager: public QObject
 {
 Q_OBJECT
 public:
diff --git a/src/rviz/view_controller.h b/src/rviz/view_controller.h
index 8b1d986bc0..5bc7823018 100644
--- a/src/rviz/view_controller.h
+++ b/src/rviz/view_controller.h
@@ -35,6 +35,7 @@
 #include <QCursor>
 
 #include "rviz/properties/property.h"
+#include "rviz/rviz_export.h"
 
 class QKeyEvent;
 
@@ -55,7 +56,7 @@ class ViewportMouseEvent;
 class FloatProperty;
 class BoolProperty;
 
-class ViewController: public Property
+class RVIZ_EXPORT ViewController: public Property
 {
 Q_OBJECT
 public:
diff --git a/src/rviz/view_manager.h b/src/rviz/view_manager.h
index 6cdd242b5d..a4c7250473 100644
--- a/src/rviz/view_manager.h
+++ b/src/rviz/view_manager.h
@@ -35,6 +35,7 @@
 
 #include "rviz/pluginlib_factory.h"
 #include "rviz/view_controller.h"
+#include "rviz/rviz_export.h"
 
 namespace Ogre
 {
@@ -49,7 +50,7 @@ class PropertyTreeModel;
 class ViewController;
 class ViewControllerContainer;
 
-class ViewManager: public QObject
+class RVIZ_EXPORT ViewManager: public QObject
 {
 Q_OBJECT
 public:
diff --git a/src/rviz/visualization_frame.h b/src/rviz/visualization_frame.h
index 2d9d777f05..1f6d69d820 100644
--- a/src/rviz/visualization_frame.h
+++ b/src/rviz/visualization_frame.h
@@ -41,6 +41,7 @@
 #include "rviz/config.h"
 #include "rviz/window_manager_interface.h"
 #include "rviz/panel.h"
+#include "rviz/rviz_export.h"
 
 #include <ros/time.h>
 
@@ -71,7 +72,7 @@ class WidgetGeometryChangeDetector;
  * the top is a toolbar with "Move Camera", "Select", etc.  There is
  * also a menu bar with file/open, etc.
  */
-class VisualizationFrame : public QMainWindow, public WindowManagerInterface
+class RVIZ_EXPORT VisualizationFrame : public QMainWindow, public WindowManagerInterface
 {
 Q_OBJECT
 public:
diff --git a/src/rviz/visualization_manager.h b/src/rviz/visualization_manager.h
index 4b983d490c..6e2f557c9e 100644
--- a/src/rviz/visualization_manager.h
+++ b/src/rviz/visualization_manager.h
@@ -38,6 +38,7 @@
 #include "rviz/bit_allocator.h"
 #include "rviz/config.h"
 #include "rviz/display_context.h"
+#include "rviz/rviz_export.h"
 
 class QKeyEvent;
 class QTimer;
@@ -97,7 +98,7 @@ class VisualizationManagerPrivate;
  * The "protected" members should probably all be "private", as
  * VisualizationManager is not intended to be subclassed.
  */
-class VisualizationManager: public DisplayContext
+class RVIZ_EXPORT VisualizationManager: public DisplayContext
 {
 Q_OBJECT
 public:
diff --git a/src/rviz/visualizer_app.h b/src/rviz/visualizer_app.h
index 50b54624e5..4ee1341118 100644
--- a/src/rviz/visualizer_app.h
+++ b/src/rviz/visualizer_app.h
@@ -34,6 +34,7 @@
 
 #ifndef Q_MOC_RUN  // See: https://bugreports.qt-project.org/browse/QTBUG-22829
 # include <ros/ros.h>
+# include <rviz/rviz_export.h>
 #endif
 
 class QTimer;
@@ -43,7 +44,7 @@ namespace rviz
 
 class VisualizationFrame;
 
-class VisualizerApp: public QObject
+class RVIZ_EXPORT VisualizerApp: public QObject
 {
 Q_OBJECT
 public: