diff --git a/kuka_iiqka_eac_driver/include/kuka_iiqka_eac_driver/visibility_control.h b/kuka_iiqka_eac_driver/include/kuka_iiqka_eac_driver/visibility_control.h
new file mode 100644
index 00000000..043a7328
--- /dev/null
+++ b/kuka_iiqka_eac_driver/include/kuka_iiqka_eac_driver/visibility_control.h
@@ -0,0 +1,56 @@
+// Copyright 2017 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.
+
+/* This header must be included by all rclcpp headers which declare symbols
+ * which are defined in the rclcpp library. When not building the rclcpp
+ * library, i.e. when using the headers in other package's code, the contents
+ * of this header change the visibility of certain symbols which the rclcpp
+ * library cannot have, but the consuming code must have inorder to link.
+ */
+
+#ifndef KUKA_EAC_HW_INTERFACE__VISIBILITY_CONTROL_H_
+#define KUKA_EAC_HW_INTERFACE__VISIBILITY_CONTROL_H_
+
+// 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 KUKA_EAC_HW_INTERFACE_EXPORT __attribute__((dllexport))
+#define KUKA_EAC_HW_INTERFACE_IMPORT __attribute__((dllimport))
+#else
+#define KUKA_EAC_HW_INTERFACE_EXPORT __declspec(dllexport)
+#define KUKA_EAC_HW_INTERFACE_IMPORT __declspec(dllimport)
+#endif
+#ifdef KUKA_EAC_HW_INTERFACE_BUILDING_DLL
+#define KUKA_EAC_HW_INTERFACE_PUBLIC KUKA_EAC_HW_INTERFACE_EXPORT
+#else
+#define KUKA_EAC_HW_INTERFACE_PUBLIC KUKA_EAC_HW_INTERFACE_IMPORT
+#endif
+#define KUKA_EAC_HW_INTERFACE_PUBLIC_TYPE KUKA_EAC_HW_INTERFACE_PUBLIC
+#define KUKA_EAC_HW_INTERFACE_LOCAL
+#else
+#define KUKA_EAC_HW_INTERFACE_EXPORT __attribute__((visibility("default")))
+#define KUKA_EAC_HW_INTERFACE_IMPORT
+#if __GNUC__ >= 4
+#define KUKA_EAC_HW_INTERFACE_PUBLIC __attribute__((visibility("default")))
+#define KUKA_EAC_HW_INTERFACE_LOCAL __attribute__((visibility("hidden")))
+#else
+#define KUKA_EAC_HW_INTERFACE_PUBLIC
+#define KUKA_EAC_HW_INTERFACE_LOCAL
+#endif
+#define KUKA_EAC_HW_INTERFACE_PUBLIC_TYPE
+#endif
+
+#endif  // KUKA_EAC_HW_INTERFACE__VISIBILITY_CONTROL_H_
diff --git a/kuka_sunrise_fri_driver/include/kuka_sunrise_fri_driver/visibility_control.h b/kuka_sunrise_fri_driver/include/kuka_sunrise_fri_driver/visibility_control.h
new file mode 100644
index 00000000..9bee3201
--- /dev/null
+++ b/kuka_sunrise_fri_driver/include/kuka_sunrise_fri_driver/visibility_control.h
@@ -0,0 +1,56 @@
+// Copyright 2017 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.
+
+/* This header must be included by all rclcpp headers which declare symbols
+ * which are defined in the rclcpp library. When not building the rclcpp
+ * library, i.e. when using the headers in other package's code, the contents
+ * of this header change the visibility of certain symbols which the rclcpp
+ * library cannot have, but the consuming code must have inorder to link.
+ */
+
+#ifndef KUKA_FRI_HW_INTERFACE__VISIBILITY_CONTROL_H_
+#define KUKA_FRI_HW_INTERFACE__VISIBILITY_CONTROL_H_
+
+// 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 KUKA_FRI_HW_INTERFACE_EXPORT __attribute__((dllexport))
+#define KUKA_FRI_HW_INTERFACE_IMPORT __attribute__((dllimport))
+#else
+#define KUKA_FRI_HW_INTERFACE_EXPORT __declspec(dllexport)
+#define KUKA_FRI_HW_INTERFACE_IMPORT __declspec(dllimport)
+#endif
+#ifdef KUKA_FRI_HW_INTERFACE_BUILDING_DLL
+#define KUKA_FRI_HW_INTERFACE_PUBLIC KUKA_FRI_HW_INTERFACE_EXPORT
+#else
+#define KUKA_FRI_HW_INTERFACE_PUBLIC KUKA_FRI_HW_INTERFACE_IMPORT
+#endif
+#define KUKA_FRI_HW_INTERFACE_PUBLIC_TYPE KUKA_FRI_HW_INTERFACE_PUBLIC
+#define KUKA_FRI_HW_INTERFACE_LOCAL
+#else
+#define KUKA_FRI_HW_INTERFACE_EXPORT __attribute__((visibility("default")))
+#define KUKA_FRI_HW_INTERFACE_IMPORT
+#if __GNUC__ >= 4
+#define KUKA_FRI_HW_INTERFACE_PUBLIC __attribute__((visibility("default")))
+#define KUKA_FRI_HW_INTERFACE_LOCAL __attribute__((visibility("hidden")))
+#else
+#define KUKA_FRI_HW_INTERFACE_PUBLIC
+#define KUKA_FRI_HW_INTERFACE_LOCAL
+#endif
+#define KUKA_FRI_HW_INTERFACE_PUBLIC_TYPE
+#endif
+
+#endif  // KUKA_FRI_HW_INTERFACE__VISIBILITY_CONTROL_H_