diff --git a/tracetools/CMakeLists.txt b/tracetools/CMakeLists.txt
index 1e9ffb8..3de8d4d 100644
--- a/tracetools/CMakeLists.txt
+++ b/tracetools/CMakeLists.txt
@@ -20,6 +20,7 @@ else()
   set(DISABLED_DEFAULT OFF)
 endif()
 option(TRACETOOLS_DISABLED "Explicitly disable support for tracing" ${DISABLED_DEFAULT})
+option(TRACETOOLS_NO_RDYNAMIC "Disable export of -rdynamic link flag" OFF)
 
 if(NOT TRACETOOLS_DISABLED)
   # Set TRACETOOLS_LTTNG_ENABLED if we can find lttng-ust
@@ -112,24 +113,23 @@ install(
 ament_export_include_directories(include)
 if(TRACETOOLS_LTTNG_ENABLED)
   ament_export_libraries(${PROJECT_NAME} ${LTTNG_LIBRARIES})
+  # Export -rdynamic for downtream packages to use when calling
+  #   ament_target_dependencies()
+  # which is needed to resolve function addresses to symbols when
+  # using function pointers directly/without std::bind()
+  # (the flag should not be used on Windows, but TRACETOOLS_LTTNG_ENABLED
+  # should never be true on Windows anyway, so there is no need to check)
+  if(NOT TRACETOOLS_NO_RDYNAMIC)
+    ament_export_link_flags("-rdynamic")
+  endif()
 else()
   ament_export_libraries(${PROJECT_NAME})
 endif()
 
 if(BUILD_TESTING)
   set(ament_cmake_cppcheck_ADDITIONAL_INCLUDE_DIRS ${LTTNG_INCLUDE_DIRS})
-
-  find_package(ament_cmake_gtest REQUIRED)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
-
-  # Only build tracetools utils tests if LTTng is enabled and found
-  if(TRACETOOLS_LTTNG_ENABLED)
-    ament_add_gtest(test_utils test/test_utils.cpp)
-    if(TARGET test_utils)
-      target_link_libraries(test_utils ${PROJECT_NAME} -rdynamic)
-    endif()
-  endif()
 endif()
 
 ament_package()
diff --git a/tracetools/package.xml b/tracetools/package.xml
index 35e0276..201e985 100644
--- a/tracetools/package.xml
+++ b/tracetools/package.xml
@@ -13,7 +13,6 @@
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
   <buildtool_depend>pkg-config</buildtool_depend>
 
-  <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
diff --git a/tracetools_test/CMakeLists.txt b/tracetools_test/CMakeLists.txt
index 24211d0..df8c4a9 100644
--- a/tracetools_test/CMakeLists.txt
+++ b/tracetools_test/CMakeLists.txt
@@ -26,17 +26,10 @@ endif()
 
 # Tests
 if(BUILD_TESTING)
+  # tracetools is exported by rclcpp
   find_package(rclcpp REQUIRED)
   find_package(std_msgs REQUIRED)
   find_package(std_srvs REQUIRED)
-  find_package(tracetools REQUIRED)
-
-  # Avoid using -rdynamic on Windows
-  if(NOT WIN32)
-    set(RDYNAMIC_FLAG "-rdynamic")
-  else()
-    set(RDYNAMIC_FLAG "")
-  endif()
 
   add_executable(test_publisher
     src/test_publisher.cpp
@@ -44,62 +37,48 @@ if(BUILD_TESTING)
   ament_target_dependencies(test_publisher
     rclcpp
     std_msgs
-    tracetools
   )
-  target_link_libraries(test_publisher "${RDYNAMIC_FLAG}")
   add_executable(test_intra
     src/test_intra.cpp
   )
   ament_target_dependencies(test_intra
     rclcpp
     std_msgs
-    tracetools
   )
-  target_link_libraries(test_intra "${RDYNAMIC_FLAG}")
   add_executable(test_ping
     src/test_ping.cpp
   )
   ament_target_dependencies(test_ping
     rclcpp
     std_msgs
-    tracetools
   )
-  target_link_libraries(test_ping "${RDYNAMIC_FLAG}")
   add_executable(test_pong
     src/test_pong.cpp
   )
   ament_target_dependencies(test_pong
     rclcpp
     std_msgs
-    tracetools
   )
-  target_link_libraries(test_pong "${RDYNAMIC_FLAG}")
   add_executable(test_timer
     src/test_timer.cpp
   )
   ament_target_dependencies(test_timer
     rclcpp
-    tracetools
   )
-  target_link_libraries(test_timer "${RDYNAMIC_FLAG}")
   add_executable(test_service_ping
     src/test_service_ping.cpp
   )
   ament_target_dependencies(test_service_ping
     rclcpp
     std_srvs
-    tracetools
   )
-  target_link_libraries(test_service_ping "${RDYNAMIC_FLAG}")
   add_executable(test_service_pong
     src/test_service_pong.cpp
   )
   ament_target_dependencies(test_service_pong
     rclcpp
     std_srvs
-    tracetools
   )
-  target_link_libraries(test_service_pong "${RDYNAMIC_FLAG}")
 
   install(TARGETS
     test_intra
@@ -117,8 +96,16 @@ if(BUILD_TESTING)
 
   # Only build tracing tests if LTTng is enabled and found
   if(TRACING_ENABLED)
-    find_package(ament_cmake_pytest REQUIRED)
+    find_package(tracetools REQUIRED)
+    find_package(ament_cmake_gtest REQUIRED)
+    ament_add_gtest(test_utils test/test_utils.cpp)
+    if(TARGET test_utils)
+      ament_target_dependencies(test_utils
+        tracetools
+      )
+    endif()
 
+    find_package(ament_cmake_pytest REQUIRED)
     # Run each test in its own pytest invocation
     set(_tracetools_test_pytest_tests
       test/test_intra.py
@@ -128,7 +115,6 @@ if(BUILD_TESTING)
       test/test_subscription.py
       test/test_timer.py
     )
-
     foreach(_test_path ${_tracetools_test_pytest_tests})
       get_filename_component(_test_name ${_test_path} NAME_WE)
       ament_add_pytest_test(${_test_name} ${_test_path}
diff --git a/tracetools_test/package.xml b/tracetools_test/package.xml
index 62142d9..f8cc79e 100644
--- a/tracetools_test/package.xml
+++ b/tracetools_test/package.xml
@@ -20,6 +20,7 @@
   <exec_depend>std_msgs</exec_depend>
   <exec_depend>std_srvs</exec_depend>
 
+  <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_cmake_mypy</test_depend>
   <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
diff --git a/tracetools/test/test_utils.cpp b/tracetools_test/test/test_utils.cpp
similarity index 100%
rename from tracetools/test/test_utils.cpp
rename to tracetools_test/test/test_utils.cpp