diff --git a/tesseract_task_composer/core/CMakeLists.txt b/tesseract_task_composer/core/CMakeLists.txt
index 550690c83a..586a85e43d 100644
--- a/tesseract_task_composer/core/CMakeLists.txt
+++ b/tesseract_task_composer/core/CMakeLists.txt
@@ -1,3 +1,6 @@
+# Need to create export header so static class variables can be exported on windows build
+include(GenerateExportHeader)
+
 add_library(
   ${PROJECT_NAME}
   src/task_composer_data_storage.cpp
@@ -13,6 +16,9 @@ add_library(
   src/task_composer_plugin_factory.cpp
   src/task_composer_server.cpp
   src/task_composer_task.cpp)
+
+generate_export_header(${PROJECT_NAME})
+
 target_link_libraries(
   ${PROJECT_NAME}
   PUBLIC console_bridge::console_bridge
@@ -35,8 +41,9 @@ target_code_coverage(
   ALL
   EXCLUDE ${COVERAGE_EXCLUDE}
   ENABLE ${TESSERACT_ENABLE_CODE_COVERAGE})
-target_include_directories(${PROJECT_NAME} PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-                                                  "$<INSTALL_INTERFACE:include>")
+target_include_directories(
+  ${PROJECT_NAME} PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+                         "$<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/../>" "$<INSTALL_INTERFACE:include>")
 
 add_library(
   ${PROJECT_NAME}_nodes
@@ -97,6 +104,9 @@ install(
   PATTERN "*.h"
   PATTERN "*.hpp")
 
+install(FILES ${PROJECT_BINARY_DIR}/core/tesseract_task_composer_export.h DESTINATION include/${PROJECT_NAME}/core/
+        COMPONENT core)
+
 # Plugin should not be export only installed
 install(
   TARGETS ${PROJECT_NAME}_factories
diff --git a/tesseract_task_composer/core/include/tesseract_task_composer/core/nodes/has_data_storage_entry_task.h b/tesseract_task_composer/core/include/tesseract_task_composer/core/nodes/has_data_storage_entry_task.h
index 58d464a1e0..fec21704d0 100644
--- a/tesseract_task_composer/core/include/tesseract_task_composer/core/nodes/has_data_storage_entry_task.h
+++ b/tesseract_task_composer/core/include/tesseract_task_composer/core/nodes/has_data_storage_entry_task.h
@@ -16,7 +16,7 @@ class HasDataStorageEntryTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const std::string INPUT_KEYS_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_KEYS_PORT;
 
   using Ptr = std::shared_ptr<HasDataStorageEntryTask>;
   using ConstPtr = std::shared_ptr<const HasDataStorageEntryTask>;
diff --git a/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_node.h b/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_node.h
index 5d714f1983..1319f1db55 100644
--- a/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_node.h
+++ b/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_node.h
@@ -34,6 +34,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/uuid/uuid.hpp>
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <tesseract_task_composer/core/tesseract_task_composer_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_common/fwd.h>
diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/continuous_contact_check_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/continuous_contact_check_task.h
index 3c81416ac9..e4b2c64cf1 100644
--- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/continuous_contact_check_task.h
+++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/continuous_contact_check_task.h
@@ -45,13 +45,13 @@ class ContinuousContactCheckTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const std::string INPUT_PROGRAM_PORT;
-  static const std::string INPUT_ENVIRONMENT_PORT;
-  static const std::string INPUT_PROFILES_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_ENVIRONMENT_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROFILES_PORT;
 
   // Optional
-  static const std::string INPUT_MANIP_INFO_PORT;
-  static const std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_MANIP_INFO_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
 
   using Ptr = std::shared_ptr<ContinuousContactCheckTask>;
   using ConstPtr = std::shared_ptr<const ContinuousContactCheckTask>;
diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/discrete_contact_check_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/discrete_contact_check_task.h
index b43c129fde..c19d8ed7ec 100644
--- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/discrete_contact_check_task.h
+++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/discrete_contact_check_task.h
@@ -45,13 +45,13 @@ class DiscreteContactCheckTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const std::string INPUT_PROGRAM_PORT;
-  static const std::string INPUT_ENVIRONMENT_PORT;
-  static const std::string INPUT_PROFILES_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_ENVIRONMENT_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROFILES_PORT;
 
   // Optional
-  static const std::string INPUT_MANIP_INFO_PORT;
-  static const std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_MANIP_INFO_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
 
   using Ptr = std::shared_ptr<DiscreteContactCheckTask>;
   using ConstPtr = std::shared_ptr<const DiscreteContactCheckTask>;
diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/fix_state_bounds_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/fix_state_bounds_task.h
index 8b92e0583d..1c405d6f6d 100644
--- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/fix_state_bounds_task.h
+++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/fix_state_bounds_task.h
@@ -46,13 +46,13 @@ class FixStateBoundsTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const std::string INOUT_PROGRAM_PORT;
-  static const std::string INPUT_ENVIRONMENT_PORT;
-  static const std::string INPUT_PROFILES_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INOUT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_ENVIRONMENT_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROFILES_PORT;
 
   // Optional
-  static const std::string INPUT_MANIP_INFO_PORT;
-  static const std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_MANIP_INFO_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
 
   using Ptr = std::shared_ptr<FixStateBoundsTask>;
   using ConstPtr = std::shared_ptr<const FixStateBoundsTask>;
diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/fix_state_collision_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/fix_state_collision_task.h
index 3cb2ff1717..2c673cfec9 100644
--- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/fix_state_collision_task.h
+++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/fix_state_collision_task.h
@@ -54,13 +54,13 @@ class FixStateCollisionTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const std::string INOUT_PROGRAM_PORT;
-  static const std::string INPUT_ENVIRONMENT_PORT;
-  static const std::string INPUT_PROFILES_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INOUT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_ENVIRONMENT_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROFILES_PORT;
 
   // Optional
-  static const std::string INPUT_MANIP_INFO_PORT;
-  static const std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_MANIP_INFO_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
 
   using Ptr = std::shared_ptr<FixStateCollisionTask>;
   using ConstPtr = std::shared_ptr<const FixStateCollisionTask>;
diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/format_as_input_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/format_as_input_task.h
index 0968dc8101..0b4e584c26 100644
--- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/format_as_input_task.h
+++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/format_as_input_task.h
@@ -55,9 +55,9 @@ class FormatAsInputTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const std::string INPUT_PRE_PLANNING_PROGRAM_PORT;
-  static const std::string INPUT_POST_PLANNING_PROGRAM_PORT;
-  static const std::string OUTPUT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PRE_PLANNING_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_POST_PLANNING_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string OUTPUT_PROGRAM_PORT;
 
   using Ptr = std::shared_ptr<FormatAsInputTask>;
   using ConstPtr = std::shared_ptr<const FormatAsInputTask>;
diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/format_as_result_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/format_as_result_task.h
index fd832658ab..9290567966 100644
--- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/format_as_result_task.h
+++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/format_as_result_task.h
@@ -16,7 +16,7 @@ class FormatAsResultTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const std::string INOUT_PROGRAMS_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INOUT_PROGRAMS_PORT;
 
   using Ptr = std::shared_ptr<FormatAsResultTask>;
   using ConstPtr = std::shared_ptr<const FormatAsResultTask>;
diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/iterative_spline_parameterization_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/iterative_spline_parameterization_task.h
index 4778d0537c..685246cb31 100644
--- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/iterative_spline_parameterization_task.h
+++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/iterative_spline_parameterization_task.h
@@ -43,14 +43,14 @@ class IterativeSplineParameterizationTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const std::string INOUT_PROGRAM_PORT;
-  static const std::string INPUT_ENVIRONMENT_PORT;
-  static const std::string INPUT_PROFILES_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INOUT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_ENVIRONMENT_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROFILES_PORT;
 
   // Optional
-  static const std::string INPUT_MANIP_INFO_PORT;
-  static const std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
-  static const std::string INPUT_MOVE_PROFILE_REMAPPING_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_MANIP_INFO_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_MOVE_PROFILE_REMAPPING_PORT;
 
   using Ptr = std::shared_ptr<IterativeSplineParameterizationTask>;
   using ConstPtr = std::shared_ptr<const IterativeSplineParameterizationTask>;
diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/min_length_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/min_length_task.h
index ead8d1b32e..8d8fc29ff8 100644
--- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/min_length_task.h
+++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/min_length_task.h
@@ -42,12 +42,12 @@ class MinLengthTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const std::string INOUT_PROGRAM_PORT;
-  static const std::string INPUT_ENVIRONMENT_PORT;
-  static const std::string INPUT_PROFILES_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INOUT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_ENVIRONMENT_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROFILES_PORT;
 
   // Optional
-  static const std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
 
   using Ptr = std::shared_ptr<MinLengthTask>;
   using ConstPtr = std::shared_ptr<const MinLengthTask>;
diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/motion_planner_task.hpp b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/motion_planner_task.hpp
index 0fad182cdf..b3e106e472 100644
--- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/motion_planner_task.hpp
+++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/motion_planner_task.hpp
@@ -53,14 +53,14 @@ class MotionPlannerTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const std::string INOUT_PROGRAM_PORT;
-  static const std::string INPUT_ENVIRONMENT_PORT;
-  static const std::string INPUT_PROFILES_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INOUT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_ENVIRONMENT_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROFILES_PORT;
 
   // Optional
-  static const std::string INPUT_MANIP_INFO_PORT;
-  static const std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
-  static const std::string INPUT_MOVE_PROFILE_REMAPPING_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_MANIP_INFO_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_MOVE_PROFILE_REMAPPING_PORT;
 
   MotionPlannerTask() : TaskComposerTask("MotionPlannerTask", MotionPlannerTask<MotionPlannerType>::ports(), true) {}
   explicit MotionPlannerTask(std::string name,  // NOLINT(performance-unnecessary-value-param)
diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/process_planning_input_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/process_planning_input_task.h
index a4b894a544..9f78e58ee4 100644
--- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/process_planning_input_task.h
+++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/process_planning_input_task.h
@@ -42,8 +42,8 @@ class ProcessPlanningInputTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const std::string INPUT_PLANNING_INPUT_PORT;
-  static const std::string OUTPUT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PLANNING_INPUT_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string OUTPUT_PROGRAM_PORT;
 
   using Ptr = std::shared_ptr<ProcessPlanningInputTask>;
   using ConstPtr = std::shared_ptr<const ProcessPlanningInputTask>;
diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/profile_switch_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/profile_switch_task.h
index 40831d9904..94665b3055 100644
--- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/profile_switch_task.h
+++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/profile_switch_task.h
@@ -43,11 +43,11 @@ class ProfileSwitchTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const std::string INPUT_PROGRAM_PORT;
-  static const std::string INPUT_PROFILES_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROFILES_PORT;
 
   // Optional
-  static const std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
 
   using Ptr = std::shared_ptr<ProfileSwitchTask>;
   using ConstPtr = std::shared_ptr<const ProfileSwitchTask>;
diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/raster_motion_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/raster_motion_task.h
index 37864a28d1..ec6bf7f2de 100644
--- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/raster_motion_task.h
+++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/raster_motion_task.h
@@ -60,11 +60,11 @@ class RasterMotionTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const std::string INOUT_PROGRAM_PORT;
-  static const std::string INPUT_ENVIRONMENT_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INOUT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_ENVIRONMENT_PORT;
 
   // Optional
-  static const std::string INPUT_MANIP_INFO_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_MANIP_INFO_PORT;
 
   struct TaskFactoryResults
   {
diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/raster_only_motion_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/raster_only_motion_task.h
index 58b753eefe..c102cc4a38 100644
--- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/raster_only_motion_task.h
+++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/raster_only_motion_task.h
@@ -56,11 +56,11 @@ class RasterOnlyMotionTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const std::string INOUT_PROGRAM_PORT;
-  static const std::string INPUT_ENVIRONMENT_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INOUT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_ENVIRONMENT_PORT;
 
   // Optional
-  static const std::string INPUT_MANIP_INFO_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_MANIP_INFO_PORT;
 
   struct TaskFactoryResults
   {
diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/ruckig_trajectory_smoothing_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/ruckig_trajectory_smoothing_task.h
index 3e0a18b43a..9873bb1fd0 100644
--- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/ruckig_trajectory_smoothing_task.h
+++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/ruckig_trajectory_smoothing_task.h
@@ -39,14 +39,14 @@ class RuckigTrajectorySmoothingTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const std::string INOUT_PROGRAM_PORT;
-  static const std::string INPUT_ENVIRONMENT_PORT;
-  static const std::string INPUT_PROFILES_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INOUT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_ENVIRONMENT_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROFILES_PORT;
 
   // Optional
-  static const std::string INPUT_MANIP_INFO_PORT;
-  static const std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
-  static const std::string INPUT_MOVE_PROFILE_REMAPPING_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_MANIP_INFO_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_MOVE_PROFILE_REMAPPING_PORT;
 
   using Ptr = std::shared_ptr<RuckigTrajectorySmoothingTask>;
   using ConstPtr = std::shared_ptr<const RuckigTrajectorySmoothingTask>;
diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/time_optimal_parameterization_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/time_optimal_parameterization_task.h
index 684e1ee926..2423961aae 100644
--- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/time_optimal_parameterization_task.h
+++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/time_optimal_parameterization_task.h
@@ -43,14 +43,14 @@ class TimeOptimalParameterizationTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const std::string INOUT_PROGRAM_PORT;
-  static const std::string INPUT_ENVIRONMENT_PORT;
-  static const std::string INPUT_PROFILES_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INOUT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_ENVIRONMENT_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROFILES_PORT;
 
   // Optional
-  static const std::string INPUT_MANIP_INFO_PORT;
-  static const std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
-  static const std::string INPUT_MOVE_PROFILE_REMAPPING_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_MANIP_INFO_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_MOVE_PROFILE_REMAPPING_PORT;
 
   using Ptr = std::shared_ptr<TimeOptimalParameterizationTask>;
   using ConstPtr = std::shared_ptr<const TimeOptimalParameterizationTask>;
diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/update_end_state_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/update_end_state_task.h
index 6397b662b5..ff4f706098 100644
--- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/update_end_state_task.h
+++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/update_end_state_task.h
@@ -39,9 +39,9 @@ class UpdateEndStateTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const std::string INPUT_CURRENT_PROGRAM_PORT;
-  static const std::string INPUT_NEXT_PROGRAM_PORT;
-  static const std::string OUTPUT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_CURRENT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_NEXT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string OUTPUT_PROGRAM_PORT;
 
   using Ptr = std::shared_ptr<UpdateEndStateTask>;
   using ConstPtr = std::shared_ptr<const UpdateEndStateTask>;
diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/update_start_and_end_state_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/update_start_and_end_state_task.h
index d1e8595d11..95d8f4ac84 100644
--- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/update_start_and_end_state_task.h
+++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/update_start_and_end_state_task.h
@@ -39,10 +39,10 @@ class UpdateStartAndEndStateTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const std::string INPUT_PREVIOUS_PROGRAM_PORT;
-  static const std::string INPUT_CURRENT_PROGRAM_PORT;
-  static const std::string INPUT_NEXT_PROGRAM_PORT;
-  static const std::string OUTPUT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PREVIOUS_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_CURRENT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_NEXT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string OUTPUT_PROGRAM_PORT;
 
   using Ptr = std::shared_ptr<UpdateStartAndEndStateTask>;
   using ConstPtr = std::shared_ptr<const UpdateStartAndEndStateTask>;
diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/update_start_state_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/update_start_state_task.h
index 517e67e5dc..de60a5e365 100644
--- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/update_start_state_task.h
+++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/update_start_state_task.h
@@ -39,9 +39,9 @@ class UpdateStartStateTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const std::string INPUT_PREVIOUS_PROGRAM_PORT;
-  static const std::string INPUT_CURRENT_PROGRAM_PORT;
-  static const std::string OUTPUT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PREVIOUS_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_CURRENT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string OUTPUT_PROGRAM_PORT;
 
   using Ptr = std::shared_ptr<UpdateStartStateTask>;
   using ConstPtr = std::shared_ptr<const UpdateStartStateTask>;
diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/upsample_trajectory_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/upsample_trajectory_task.h
index 7b5274460b..11c8ad3c85 100644
--- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/upsample_trajectory_task.h
+++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/upsample_trajectory_task.h
@@ -47,11 +47,11 @@ class UpsampleTrajectoryTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const std::string INOUT_PROGRAM_PORT;
-  static const std::string INPUT_PROFILES_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INOUT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROFILES_PORT;
 
   // Optional
-  static const std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
 
   using Ptr = std::shared_ptr<UpsampleTrajectoryTask>;
   using ConstPtr = std::shared_ptr<const UpsampleTrajectoryTask>;