diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt
index 1bac9e922b..ad8b8e3a75 100644
--- a/moveit_core/CMakeLists.txt
+++ b/moveit_core/CMakeLists.txt
@@ -11,7 +11,7 @@ if(NOT CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
     -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wcast-qual
     -Wno-unused-parameter -Wno-unused-function)
 else()
-  add_compile_options(/W3)
+  add_compile_options(/W3 /wd4251 /wd4068 /wd4275)
 endif()
 
 if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
diff --git a/moveit_core/robot_state/CMakeLists.txt b/moveit_core/robot_state/CMakeLists.txt
index ba5b60d493..4d0a5966f6 100644
--- a/moveit_core/robot_state/CMakeLists.txt
+++ b/moveit_core/robot_state/CMakeLists.txt
@@ -47,7 +47,7 @@ if(BUILD_TESTING)
   include_directories(${moveit_resources_INCLUDE_DIRS})
 
   if(WIN32)
-    # TODO add windows paths
+    add_compile_definitions(_USE_MATH_DEFINES /wd4251 /wd4068 /wd4275)
   else()
     set(append_library_dirs "${CMAKE_CURRENT_BINARY_DIR};${CMAKE_CURRENT_BINARY_DIR}/../utils")
   endif()
diff --git a/moveit_core/utils/CMakeLists.txt b/moveit_core/utils/CMakeLists.txt
index 44e63212f7..c9ab9b8865 100644
--- a/moveit_core/utils/CMakeLists.txt
+++ b/moveit_core/utils/CMakeLists.txt
@@ -1,6 +1,6 @@
 set(MOVEIT_LIB_NAME moveit_utils)
 
-add_library(${MOVEIT_LIB_NAME} SHARED
+add_library(${MOVEIT_LIB_NAME}
   src/lexical_casts.cpp
   src/message_checks.cpp
   src/rclcpp_utils.cpp
@@ -8,7 +8,6 @@ add_library(${MOVEIT_LIB_NAME} SHARED
 
 ament_target_dependencies(${MOVEIT_LIB_NAME} Boost moveit_msgs)
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
-set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS TRUE)
 
 install(TARGETS ${MOVEIT_LIB_NAME}
         LIBRARY DESTINATION lib
@@ -21,7 +20,7 @@ if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
   find_package(moveit_resources REQUIRED)
   set(MOVEIT_TEST_LIB_NAME moveit_test_utils)
-  add_library(${MOVEIT_TEST_LIB_NAME} SHARED
+  add_library(${MOVEIT_TEST_LIB_NAME}
     src/robot_model_test_utils.cpp)
   ament_target_dependencies(${MOVEIT_TEST_LIB_NAME}
     Boost
@@ -34,8 +33,7 @@ if(BUILD_TESTING)
   )
 
   set_target_properties(${MOVEIT_TEST_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
-  set_target_properties(${MOVEIT_TEST_LIB_NAME} PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS TRUE)
-
+  
   ament_export_libraries(${MOVEIT_TEST_LIB_NAME} ${MOVEIT_LIB_NAME})
   ament_export_include_directories(include)
 
diff --git a/moveit_demo_nodes/run_moveit_cpp/CMakeLists.txt b/moveit_demo_nodes/run_moveit_cpp/CMakeLists.txt
index 820b4af675..86a7e4d033 100644
--- a/moveit_demo_nodes/run_moveit_cpp/CMakeLists.txt
+++ b/moveit_demo_nodes/run_moveit_cpp/CMakeLists.txt
@@ -10,6 +10,11 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
+if (WIN32)
+  add_compile_options(/wd4251 /wd4068 /wd4275)
+endif()
+
+
 # find dependencies
 find_package(ament_cmake REQUIRED)
 find_package(moveit_ros_planning_interface REQUIRED)