diff --git a/CMakeLists.txt b/CMakeLists.txt
index b800e66..da1950f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -16,13 +16,17 @@ endif()
 
 option(BUILD_SHARED_LIBS "Build shared libraries" ON)
 
+include(GenerateExportHeader)
 add_library(rsl
     src/parameter_validators.cpp
     src/random.cpp
 )
 add_library(rsl::rsl ALIAS rsl)
 target_compile_features(rsl PUBLIC cxx_std_17)
-target_include_directories(rsl PUBLIC $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>)
+target_include_directories(rsl PUBLIC
+    $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+    $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/include>
+)
 target_link_libraries(rsl PUBLIC
     Eigen3::Eigen
     fmt::fmt
@@ -30,6 +34,8 @@ target_link_libraries(rsl PUBLIC
     tcb_span::tcb_span
     tl_expected::tl_expected
 )
+set_target_properties(rsl PROPERTIES CXX_VISIBILITY_PRESET hidden VISIBILITY_INLINES_HIDDEN YES)
+generate_export_header(rsl EXPORT_FILE_NAME include/rsl/export.hpp)
 
 add_subdirectory(docs)
 
@@ -41,7 +47,7 @@ endif()
 include(CMakePackageConfigHelpers)
 
 install(
-    DIRECTORY include/
+    DIRECTORY include/ ${PROJECT_BINARY_DIR}/include/
     DESTINATION include/rsl
 )
 install(
diff --git a/include/rsl/parameter_validators.hpp b/include/rsl/parameter_validators.hpp
index 72404e5..1c8c702 100644
--- a/include/rsl/parameter_validators.hpp
+++ b/include/rsl/parameter_validators.hpp
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <rsl/algorithm.hpp>
+#include <rsl/export.hpp>
 #include <rsl/static_string.hpp>
 #include <rsl/static_vector.hpp>
 
@@ -298,7 +299,7 @@ template <typename T>
 /**
  * @brief Convert the result of a validator function into a SetParametersResult msg
  */
-[[nodiscard]] auto to_parameter_result_msg(tl::expected<void, std::string> const& result)
+[[nodiscard]] RSL_EXPORT auto to_parameter_result_msg(tl::expected<void, std::string> const& result)
     -> rcl_interfaces::msg::SetParametersResult;
 
 }  // namespace rsl
diff --git a/include/rsl/random.hpp b/include/rsl/random.hpp
index 293f403..e431d7f 100644
--- a/include/rsl/random.hpp
+++ b/include/rsl/random.hpp
@@ -1,5 +1,7 @@
 #pragma once
 
+#include <rsl/export.hpp>
+
 #include <Eigen/Geometry>
 #include <cassert>
 #include <random>
@@ -22,7 +24,7 @@ namespace rsl {
  *
  * @return Seeded random number generator
  */
-auto rng(std::seed_seq seed_sequence = {}) -> std::mt19937&;
+RSL_EXPORT auto rng(std::seed_seq seed_sequence = {}) -> std::mt19937&;
 
 /**
  * @brief Get a uniform real number in a given range
@@ -63,6 +65,6 @@ template <typename IntType>
  * @brief Generate a random unit quaternion of doubles
  * @return Random unit quaternion
  */
-[[nodiscard]] auto random_unit_quaternion() -> Eigen::Quaterniond;
+[[nodiscard]] RSL_EXPORT auto random_unit_quaternion() -> Eigen::Quaterniond;
 
 }  // namespace rsl