[rcl_action] Add missing visibilty control definitions (#315)

2018-10-30 10:39:02 -07:00 · 2018-10-30 10:39:02 -07:00 · 2c0e35d9d1
commit 2c0e35d9d1
parent 451bf4a1a4
7 changed files with 123 additions and 65 deletions
--- a/rcl_action/include/rcl_action/action_client.h
+++ b/rcl_action/include/rcl_action/action_client.h
@ -25,9 +25,9 @@ extern "C"
 typedef struct rosidl_action_type_support_t rosidl_action_type_support_t;

 #include "rcl_action/types.h"
+#include "rcl_action/visibility_control.h"
 #include "rcl/macros.h"
 #include "rcl/node.h"
-#include "rcl/visibility_control.h"


 /// Internal action client implementation struct.
@ -58,7 +58,7 @@ typedef struct rcl_action_client_options_t
 * Should be called to get a null rcl_action_client_t before passing to
 * rcl_action_client_init().
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_action_client_t
 rcl_action_get_zero_initialized_client(void);
@ -171,7 +171,7 @@ rcl_action_get_zero_initialized_client(void);
 * \return `RCL_RET_ACTION_NAME_INVALID` if the given action name is invalid, or
 * \return `RCL_RET_ERROR` if an unspecified error occurs.
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_client_init(
@ -211,7 +211,7 @@ rcl_action_client_init(
 * \return `RCL_RET_NODE_INVALID` if the node is invalid, or
 * \return `RCL_RET_ERROR` if an unspecified error occurs.
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_client_fini(rcl_action_client_t * action_client, rcl_node_t * node);
@ -227,7 +227,7 @@ rcl_action_client_fini(rcl_action_client_t * action_client, rcl_node_t * node);
 * - status_topic_qos = rcl_action_qos_profile_status_default;
 * - allocator = rcl_get_default_allocator()
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_action_client_options_t
 rcl_action_client_get_default_options(void);
@ -272,7 +272,7 @@ rcl_action_client_get_default_options(void);
 * \return `RCL_RET_ACTION_CLIENT_INVALID` if the client is invalid, or
 * \return `RCL_RET_ERROR` if an unspecified error occurs.
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_send_goal_request(
@ -317,7 +317,7 @@ rcl_action_send_goal_request(
 *         in the middleware, or
 * \return `RCL_RET_ERROR` if an unspecified error occurs.
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_take_goal_response(
@ -367,7 +367,7 @@ rcl_action_take_goal_response(
 *         in the middleware, or
 * \return `RCL_RET_ERROR` if an unspecified error occurs.
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_take_feedback(
@ -413,7 +413,7 @@ rcl_action_take_feedback(
 *         in the middleware, or
 * \return `RCL_RET_ERROR` if an unspecified error occurs.
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_take_status(
@ -460,7 +460,7 @@ rcl_action_take_status(
 * \return `RCL_RET_ACTION_CLIENT_INVALID` if the action client is invalid, or
 * \return `RCL_RET_ERROR` if an unspecified error occurs.
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_send_result_request(
@ -512,7 +512,7 @@ rcl_action_send_result_request(
 *         in the middleware, or
 * \return `RCL_RET_ERROR` if an unspecified error occurs.
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_take_result_response(
@ -554,7 +554,7 @@ rcl_action_take_result_response(
 * \return `RCL_RET_ACTION_CLIENT_INVALID` if the action client is invalid, or
 * \return `RCL_RET_ERROR` if an unspecified error occurs.
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_send_cancel_request(
@ -600,7 +600,7 @@ rcl_action_send_cancel_request(
 *         in the middleware, or
 * \return `RCL_RET_ERROR` if an unspecified error occurs.
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_take_cancel_response(
@ -629,7 +629,7 @@ rcl_action_take_cancel_response(
 * \param[in] action_client the pointer to the action client
 * \return name string if successful, otherwise `NULL`
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 const char *
 rcl_action_client_get_action_name(const rcl_action_client_t * action_client);
@ -656,7 +656,7 @@ rcl_action_client_get_action_name(const rcl_action_client_t * action_client);
 * \param[in] action_client pointer to the action client
 * \return options struct if successful, otherwise `NULL`
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 const rcl_action_client_options_t *
 rcl_action_client_get_options(const rcl_action_client_t * action_client);
@ -680,7 +680,7 @@ rcl_action_client_get_options(const rcl_action_client_t * action_client);
 * \param[in] error_msg_allocator a valid allocator or `NULL`
 * \return `true` if `action_client` is valid, otherwise `false`
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 bool
 rcl_action_client_is_valid(
  const rcl_action_client_t * action_client,
--- a/rcl_action/include/rcl_action/action_server.h
+++ b/rcl_action/include/rcl_action/action_server.h
@ -26,10 +26,10 @@ typedef struct rosidl_action_type_support_t rosidl_action_type_support_t;

 #include "rcl_action/goal_handle.h"
 #include "rcl_action/types.h"
+#include "rcl_action/visibility_control.h"
 #include "rcl/macros.h"
 #include "rcl/node.h"
 #include "rcl/time.h"
-#include "rcl/visibility_control.h"


 /// Internal rcl_action implementation struct.
@ -62,7 +62,7 @@ typedef struct rcl_action_server_options_t
 * Should be called to get a null rcl_action_server_t before passing to
 * rcl_action_server_init().
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_action_server_t
 rcl_action_get_zero_initialized_server(void);
@ -164,7 +164,7 @@ rcl_action_get_zero_initialized_server(void);
 * \return `RCL_RET_ACTION_NAME_INVALID` if the given action name is invalid, or
 * \return `RCL_RET_ERROR` if an unspecified error occurs.
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_server_init(
@ -201,7 +201,7 @@ rcl_action_server_init(
 * \return `RCL_RET_NODE_INVALID` if the node is invalid, or
 * \return `RCL_RET_ERROR` if an unspecified error occurs.
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_server_fini(rcl_action_server_t * action_server, rcl_node_t * node);
@ -218,7 +218,7 @@ rcl_action_server_fini(rcl_action_server_t * action_server, rcl_node_t * node);
 * - allocator = rcl_get_default_allocator()
   - result_timeout = 9e+11;  // 15 minutes
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_action_server_options_t
 rcl_action_server_get_default_options(void);
@ -264,7 +264,7 @@ rcl_action_server_get_default_options(void);
 *         in the middleware, or
 * \return `RCL_RET_ERROR` if an unspecified error occurs.
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_take_goal_request(
@ -310,7 +310,7 @@ rcl_action_take_goal_request(
 * \return `RCL_RET_ACTION_SERVER_INVALID` if the action server is invalid, or
 * \return `RCL_RET_ERROR` if an unspecified error occurs.
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_send_goal_response(
@ -364,7 +364,7 @@ rcl_action_send_goal_response(
 * \return a pointer to a new goal handle representing the accepted goal, or
 * \return `NULL` if a failure occured.
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_action_goal_handle_t *
 rcl_action_accept_new_goal(
@ -413,7 +413,7 @@ rcl_action_accept_new_goal(
 * \return `RCL_RET_ACTION_SERVER_INVALID` if the action server is invalid, or
 * \return `RCL_RET_ERROR` if an unspecified error occurs. *
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_publish_feedback(
@ -440,7 +440,7 @@ rcl_action_publish_feedback(
 * \return `RCL_RET_ACTION_SERVER_INVALID` if the action server is invalid, or
 * \return `RCL_RET_ERROR` if an unspecified error occurs.
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_get_goal_status_array(
@ -470,7 +470,7 @@ rcl_action_get_goal_status_array(
 * \return `RCL_RET_ACTION_SERVER_INVALID` if the action server is invalid, or
 * \return `RCL_RET_ERROR` if an unspecified error occurs.
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_publish_status(
@ -508,7 +508,7 @@ rcl_action_publish_status(
 *         in the middleware, or
 * \return `RCL_RET_ERROR` if an unspecified error occurs.
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_take_result_request(
@ -542,7 +542,7 @@ rcl_action_take_result_request(
 * \return `RCL_RET_ACTION_SERVER_INVALID` if the action server is invalid, or
 * \return `RCL_RET_ERROR` if an unspecified error occurs.
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_send_result_response(
@ -571,7 +571,7 @@ rcl_action_send_result_response(
 * \return `RCL_RET_ACTION_SERVER_INVALID` if the action server is invalid, or
 * \return `RCL_RET_ERROR` if an unspecified error occurs.
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_clear_expired_goals(
@ -612,7 +612,7 @@ rcl_action_clear_expired_goals(
 *         in the middleware, or
 * \return `RCL_RET_ERROR` if an unspecified error occurs.
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_take_cancel_request(
@ -655,7 +655,7 @@ rcl_action_take_cancel_request(
 *         in the middleware, or
 * \return `RCL_RET_ERROR` if an unspecified error occurs.
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_process_cancel_request(
@ -682,7 +682,7 @@ rcl_action_process_cancel_request(
 * \return `RCL_RET_ACTION_SERVER_INVALID` if the action server is invalid, or
 * \return `RCL_RET_ERROR` if an unspecified error occurs.
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_send_cancel_response(
@ -711,7 +711,7 @@ rcl_action_send_cancel_response(
 * \param[in] action_server the pointer to the action server
 * \return name string if successful, otherwise `NULL`
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 const char *
 rcl_action_server_get_action_name(const rcl_action_server_t * action_server);
@ -738,7 +738,7 @@ rcl_action_server_get_action_name(const rcl_action_server_t * action_server);
 * \param[in] action_server pointer to the action server
 * \return options struct if successful, otherwise `NULL`
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 const rcl_action_server_options_t *
 rcl_action_server_get_options(const rcl_action_server_t * action_server);
@ -775,7 +775,7 @@ rcl_action_server_get_options(const rcl_action_server_t * action_server);
 *   not set otherwise.
 * \return pointer to an array goal handles if successful, otherwise `NULL`
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 const rcl_action_goal_handle_t *
 rcl_action_server_get_goal_handles(
@ -802,7 +802,7 @@ rcl_action_server_get_goal_handles(
 * \param[in] error_msg_allocator a valid allocator or `NULL`
 * \return `true` if `action_server` is valid, otherwise `false`
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 bool
 rcl_action_server_is_valid(
  const rcl_action_server_t * action_server,
--- a/rcl_action/include/rcl_action/goal_handle.h
+++ b/rcl_action/include/rcl_action/goal_handle.h
@ -22,7 +22,7 @@ extern "C"

 #include "rcl_action/goal_state_machine.h"
 #include "rcl_action/types.h"
-#include "rcl/visibility_control.h"
+#include "rcl_action/visibility_control.h"

 // Forward declare
 typedef struct rcl_action_server_t rcl_action_server_t;
@ -41,7 +41,7 @@ typedef struct rcl_action_goal_handle_t
 * Should be called to get a null rcl_action_goal_handle_t before passing to
 * rcl_action_goal_handle_init().
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_action_goal_handle_t
 rcl_action_get_zero_initialized_goal_handle(void);
@ -101,7 +101,7 @@ rcl_action_get_zero_initialized_goal_handle(void);
 * \return `RCL_RET_BAD_ALLOC` if allocating memory failed, or
 * \return `RCL_RET_ERROR` if an unspecified error occurs.
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_goal_handle_init(
@ -134,7 +134,7 @@ rcl_action_goal_handle_init(
 * \return `RCL_RET_ACTION_GOAL_HANDLE_INVALID` if the goal handle is invalid, or
 * \return `RCL_RET_ERROR` if an unspecified error occurs.
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_goal_handle_fini(rcl_action_goal_handle_t * goal_handle);
@ -158,7 +158,7 @@ rcl_action_goal_handle_fini(rcl_action_goal_handle_t * goal_handle);
 * \return `RCL_RET_ACTION_GOAL_HANDLE_INVALID` if the goal handle is invalid, or
 * \return `RCL_RET_ERROR` if an unspecified error occurs.
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_update_goal_state(
@ -183,7 +183,7 @@ rcl_action_update_goal_state(
 * \return `RCL_RET_ACTION_GOAL_HANDLE_INVALID` if the goal handle is invalid, or
 * \return `RCL_RET_ERROR` if an unspecified error occurs.
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_goal_handle_get_info(
@ -208,7 +208,7 @@ rcl_action_goal_handle_get_info(
 * \return `RCL_RET_ACTION_GOAL_HANDLE_INVALID` if the goal handle is invalid, or
 * \return `RCL_RET_ERROR` if an unspecified error occurs.
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_goal_handle_get_status(
@ -237,7 +237,7 @@ rcl_action_goal_handle_get_status(
 * \return `false` otherwise, also
 * \return `false` if the goal handle pointer is invalid or the allocator is invalid
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 bool
 rcl_action_goal_handle_is_active(
@ -270,7 +270,7 @@ rcl_action_goal_handle_is_active(
 * \return `true` if the goal handle is valid, `false` otherwise, also
 * \return `false` if the allocator is invalid
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 bool
 rcl_action_goal_handle_is_valid(
--- a/rcl_action/include/rcl_action/goal_state_machine.h
+++ b/rcl_action/include/rcl_action/goal_state_machine.h
@ -21,7 +21,7 @@ extern "C"
 #endif

 #include "rcl_action/types.h"
-#include "rcl/visibility_control.h"
+#include "rcl_action/visibility_control.h"


 typedef rcl_action_goal_state_t
@ -110,7 +110,7 @@ rcl_action_goal_event_handler
 * \return the next goal state if the transition is valid, or
 * \return `GOAl_STATE_UNKNOWN` if the transition is invalid or an error occured
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 inline rcl_action_goal_state_t
 rcl_action_transition_goal_state(
--- a/rcl_action/include/rcl_action/types.h
+++ b/rcl_action/include/rcl_action/types.h
@ -20,6 +20,8 @@ extern "C"
 {
 #endif

+#include "rcl_action/visibility_control.h"
+
 #include "action_msgs/msg/goal_info.h"
 #include "action_msgs/msg/goal_status.h"
 #include "action_msgs/msg/goal_status_array.h"
@ -27,7 +29,6 @@ extern "C"

 #include "rcl/macros.h"
 #include "rcl/types.h"
-#include "rcl/visibility_control.h"


 // rcl action specific ret codes in 2XXX
@ -89,7 +90,7 @@ typedef enum rcl_action_goal_event_t
 * Should be called to get a null rcl_action_goal_info_t before passing to
 * rcl_action_goal_info_init().
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_action_goal_info_t
 rcl_action_get_zero_initialized_goal_info(void);
@ -133,7 +134,7 @@ rcl_action_get_zero_initialized_goal_info(void);
 * \return `RCL_RET_BAD_ALLOC` if allocating memory failed, or
 * \return `RCL_RET_ERROR` if an unspecified error occurs.
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_goal_info_init(
@ -160,7 +161,7 @@ rcl_action_goal_info_init(
 * \return `RCL_RET_ACTION_SERVER_INVALID` if the action server is invalid, or
 * \return `RCL_RET_ERROR` if an unspecified error occurs.
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_goal_info_fini(
@ -172,7 +173,7 @@ rcl_action_goal_info_fini(
 * Should be called to get a null rcl_action_goal_status_array_t before passing to
 * rcl_action_server_get_goal_status_array().
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_action_goal_status_array_t
 rcl_action_get_zero_initialized_goal_status_array(void);
@ -183,7 +184,7 @@ rcl_action_get_zero_initialized_goal_status_array(void);
 *
 * rcl_action_cancel_request_init().
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_action_cancel_request_t
 rcl_action_get_zero_initialized_cancel_request(void);
@ -229,7 +230,7 @@ rcl_action_get_zero_initialized_cancel_request(void);
 * \return `RCL_RET_BAD_ALLOC` if allocating memory failed, or
 * \return `RCL_RET_ERROR` if an unspecified error occurs.
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_cancel_request_init(
@ -256,7 +257,7 @@ rcl_action_cancel_request_init(
 * \return `RCL_RET_ACTION_SERVER_INVALID` if the action server is invalid, or
 * \return `RCL_RET_ERROR` if an unspecified error occurs.
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_cancel_request_fini(
@ -268,7 +269,7 @@ rcl_action_cancel_request_fini(
 * Should be called to get a null rcl_action_cancel_response_t before passing to
 * rcl_action_cancel_response_init().
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_action_cancel_response_t
 rcl_action_get_zero_initialized_cancel_response(void);
@ -315,7 +316,7 @@ rcl_action_get_zero_initialized_cancel_response(void);
 * \return `RCL_RET_BAD_ALLOC` if allocating memory failed, or
 * \return `RCL_RET_ERROR` if an unspecified error occurs.
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_cancel_response_init(
@ -342,7 +343,7 @@ rcl_action_cancel_response_init(
 * \return `RCL_RET_ACTION_SERVER_INVALID` if the action server is invalid, or
 * \return `RCL_RET_ERROR` if an unspecified error occurs.
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_cancel_response_fini(
--- a/rcl_action/include/rcl_action/visibility_control.h
+++ b/rcl_action/include/rcl_action/visibility_control.h
@ -0,0 +1,56 @@
+// 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.
+
+/* 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 RCL_ACTION__VISIBILITY_CONTROL_H_
+#define RCL_ACTION__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 RCL_ACTION_EXPORT __attribute__ ((dllexport))
+    #define RCL_ACTION_IMPORT __attribute__ ((dllimport))
+  #else
+    #define RCL_ACTION_EXPORT __declspec(dllexport)
+    #define RCL_ACTION_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef RCL_ACTION_BUILDING_DLL
+    #define RCL_ACTION_PUBLIC RCL_ACTION_EXPORT
+  #else
+    #define RCL_ACTION_PUBLIC RCL_ACTION_IMPORT
+  #endif
+  #define RCL_ACTION_PUBLIC_TYPE RCL_ACTION_PUBLIC
+  #define RCL_ACTION_LOCAL
+#else
+  #define RCL_ACTION_EXPORT __attribute__ ((visibility("default")))
+  #define RCL_ACTION_IMPORT
+  #if __GNUC__ >= 4
+    #define RCL_ACTION_PUBLIC __attribute__ ((visibility("default")))
+    #define RCL_ACTION_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define RCL_ACTION_PUBLIC
+    #define RCL_ACTION_LOCAL
+  #endif
+  #define RCL_ACTION_PUBLIC_TYPE
+#endif
+
+#endif  // RCL_ACTION__VISIBILITY_CONTROL_H_
--- a/rcl_action/include/rcl_action/wait.h
+++ b/rcl_action/include/rcl_action/wait.h
@ -22,6 +22,7 @@ extern "C"

 #include "rcl_action/action_client.h"
 #include "rcl_action/action_server.h"
+#include "rcl_action/visibility_control.h"
 #include "rcl/wait.h"


@ -54,7 +55,7 @@ extern "C"
 * \return `RCL_RET_ACTION_CLIENT_INVALID` if the action client is invalid, or
 * \return `RCL_RET_ERROR` if an unspecified error occurs.
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_wait_set_add_action_client(
@ -86,7 +87,7 @@ rcl_action_wait_set_add_action_client(
 * \return `RCL_RET_ACTION_SERVER_INVALID` if the action server is invalid, or
 * \return `RCL_RET_ERROR` if an unspecified error occurs.
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_wait_set_add_action_server(
@ -122,7 +123,7 @@ rcl_action_wait_set_add_action_server(
 * \return `RCL_RET_ACTION_CLIENT_INVALID` if the action client is invalid, or
 * \return `RCL_RET_ERROR` if an unspecified error occurs.
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_client_wait_set_get_num_entities(
@ -162,7 +163,7 @@ rcl_action_client_wait_set_get_num_entities(
 * \return `RCL_RET_ACTION_SERVER_INVALID` if the action server is invalid, or
 * \return `RCL_RET_ERROR` if an unspecified error occurs.
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_server_wait_set_get_num_entities(
@ -203,7 +204,7 @@ rcl_action_server_wait_set_get_num_entities(
 * \return `RCL_RET_ACTION_CLIENT_INVALID` if the action client is invalid, or
 * \return `RCL_RET_ERROR` if an unspecified error occurs.
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_client_wait_set_get_entities_ready(
@ -240,7 +241,7 @@ rcl_action_client_wait_set_get_entities_ready(
 * \return `RCL_RET_ACTION_CLIENT_INVALID` if the action server is invalid, or
 * \return `RCL_RET_ERROR` if an unspecified error occurs.
 */
-RCL_PUBLIC
+RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_server_wait_set_get_entities_ready(