diff --git a/tf2/include/tf2/LinearMath/QuadWord.hpp b/tf2/include/tf2/LinearMath/QuadWord.hpp
index 04153d4c0..d4a3fd81c 100644
--- a/tf2/include/tf2/LinearMath/QuadWord.hpp
+++ b/tf2/include/tf2/LinearMath/QuadWord.hpp
@@ -18,7 +18,7 @@ subject to the following restrictions:
 
 #include "Scalar.hpp"
 #include "MinMax.hpp"
-#include "tf2/visibility_control.hpp"
+#include "tf2/visibility_control.h"
 
 
 #if defined (__CELLOS_LV2) && defined (__SPU__)
diff --git a/tf2/include/tf2/LinearMath/Quaternion.hpp b/tf2/include/tf2/LinearMath/Quaternion.hpp
index 12aaa469d..c4c505b6e 100644
--- a/tf2/include/tf2/LinearMath/Quaternion.hpp
+++ b/tf2/include/tf2/LinearMath/Quaternion.hpp
@@ -20,7 +20,7 @@ subject to the following restrictions:
 
 #include "Vector3.hpp"
 #include "QuadWord.hpp"
-#include "tf2/visibility_control.hpp"
+#include "tf2/visibility_control.h"
 
 namespace tf2
 {
diff --git a/tf2/include/tf2/LinearMath/Transform.hpp b/tf2/include/tf2/LinearMath/Transform.hpp
index 03f2aff9e..4532bd5a7 100644
--- a/tf2/include/tf2/LinearMath/Transform.hpp
+++ b/tf2/include/tf2/LinearMath/Transform.hpp
@@ -19,7 +19,7 @@ subject to the following restrictions:
 
 
 #include "Matrix3x3.hpp"
-#include "tf2/visibility_control.hpp"
+#include "tf2/visibility_control.h"
 
 
 namespace tf2
diff --git a/tf2/include/tf2/LinearMath/Vector3.hpp b/tf2/include/tf2/LinearMath/Vector3.hpp
index 6e0e82950..10590a276 100644
--- a/tf2/include/tf2/LinearMath/Vector3.hpp
+++ b/tf2/include/tf2/LinearMath/Vector3.hpp
@@ -20,7 +20,7 @@ subject to the following restrictions:
 
 #include "Scalar.hpp"
 #include "MinMax.hpp"
-#include "tf2/visibility_control.hpp"
+#include "tf2/visibility_control.h"
 
 namespace tf2
 {
diff --git a/tf2/include/tf2/buffer_core.hpp b/tf2/include/tf2/buffer_core.hpp
index 0664ba345..04c6f644e 100644
--- a/tf2/include/tf2/buffer_core.hpp
+++ b/tf2/include/tf2/buffer_core.hpp
@@ -51,7 +51,7 @@
 #include "tf2/buffer_core_interface.hpp"
 #include "tf2/exceptions.hpp"
 #include "tf2/transform_storage.hpp"
-#include "tf2/visibility_control.hpp"
+#include "tf2/visibility_control.h"
 
 namespace tf2
 {
diff --git a/tf2/include/tf2/buffer_core_interface.hpp b/tf2/include/tf2/buffer_core_interface.hpp
index 73beb5b68..d9c718a8e 100644
--- a/tf2/include/tf2/buffer_core_interface.hpp
+++ b/tf2/include/tf2/buffer_core_interface.hpp
@@ -34,7 +34,7 @@
 #include "geometry_msgs/msg/transform_stamped.hpp"
 
 #include "tf2/time.hpp"
-#include "tf2/visibility_control.hpp"
+#include "tf2/visibility_control.h"
 
 namespace tf2
 {
diff --git a/tf2/include/tf2/convert.hpp b/tf2/include/tf2/convert.hpp
index 89857a2de..b56ac500f 100644
--- a/tf2/include/tf2/convert.hpp
+++ b/tf2/include/tf2/convert.hpp
@@ -40,7 +40,7 @@
 #include "tf2/exceptions.hpp"
 #include "tf2/impl/convert.hpp"
 #include "tf2/transform_datatypes.hpp"
-#include "tf2/visibility_control.hpp"
+#include "tf2/visibility_control.h"
 
 namespace tf2
 {
diff --git a/tf2/include/tf2/exceptions.hpp b/tf2/include/tf2/exceptions.hpp
index 9155da6d6..5b334b500 100644
--- a/tf2/include/tf2/exceptions.hpp
+++ b/tf2/include/tf2/exceptions.hpp
@@ -35,7 +35,7 @@
 #include <cstdint>
 #include <string>
 
-#include "tf2/visibility_control.hpp"
+#include "tf2/visibility_control.h"
 
 namespace tf2
 {
diff --git a/tf2/include/tf2/time.hpp b/tf2/include/tf2/time.hpp
index 5d5bfb1ca..c01aab84c 100644
--- a/tf2/include/tf2/time.hpp
+++ b/tf2/include/tf2/time.hpp
@@ -33,7 +33,7 @@
 #include <cmath>
 #include <string>
 
-#include "tf2/visibility_control.hpp"
+#include "tf2/visibility_control.h"
 
 namespace tf2
 {
diff --git a/tf2/include/tf2/time_cache.hpp b/tf2/include/tf2/time_cache.hpp
index dd17d0fc2..6ae277cc0 100644
--- a/tf2/include/tf2/time_cache.hpp
+++ b/tf2/include/tf2/time_cache.hpp
@@ -30,6 +30,8 @@
 #ifndef TF2__TIME_CACHE_HPP_
 #define TF2__TIME_CACHE_HPP_
 
+#include "tf2/visibility_control.h"
+
 #include <chrono>
 #include <memory>
 #include <list>
@@ -37,7 +39,6 @@
 #include <string>
 #include <utility>
 
-#include "tf2/visibility_control.hpp"
 #include "tf2/transform_storage.hpp"
 #include "tf2/exceptions.hpp"
 
diff --git a/tf2/include/tf2/transform_storage.hpp b/tf2/include/tf2/transform_storage.hpp
index 6e73f1d44..5d04f513b 100644
--- a/tf2/include/tf2/transform_storage.hpp
+++ b/tf2/include/tf2/transform_storage.hpp
@@ -30,10 +30,11 @@
 #ifndef TF2__TRANSFORM_STORAGE_HPP_
 #define TF2__TRANSFORM_STORAGE_HPP_
 
+#include "tf2/visibility_control.h"
+
 #include "tf2/LinearMath/Vector3.hpp"
 #include "tf2/LinearMath/Quaternion.hpp"
 #include "tf2/time.hpp"
-#include "tf2/visibility_control.hpp"
 
 namespace tf2
 {
diff --git a/tf2/include/tf2/utils.hpp b/tf2/include/tf2/utils.hpp
index b4a1f7f46..ca560d1bd 100644
--- a/tf2/include/tf2/utils.hpp
+++ b/tf2/include/tf2/utils.hpp
@@ -18,7 +18,7 @@
 #include <tf2/LinearMath/Transform.hpp>
 #include <tf2/LinearMath/Quaternion.hpp>
 #include <tf2/impl/utils.hpp>
-#include <tf2/visibility_control.hpp>
+#include <tf2/visibility_control.h>
 
 namespace tf2
 {
diff --git a/tf2/include/tf2/visibility_control.h b/tf2/include/tf2/visibility_control.h
index 10492e513..cb4611891 100644
--- a/tf2/include/tf2/visibility_control.h
+++ b/tf2/include/tf2/visibility_control.h
@@ -29,8 +29,35 @@
 #ifndef TF2__VISIBILITY_CONTROL_H_
 #define TF2__VISIBILITY_CONTROL_H_
 
-#warning This header is obsolete, please include tf2/visibility_control.hpp instead
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
 
-#include <tf2/visibility_control.hpp>
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define TF2_EXPORT __attribute__ ((dllexport))
+    #define TF2_IMPORT __attribute__ ((dllimport))
+  #else
+    #define TF2_EXPORT __declspec(dllexport)
+    #define TF2_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef TF2_BUILDING_DLL
+    #define TF2_PUBLIC TF2_EXPORT
+  #else
+    #define TF2_PUBLIC TF2_IMPORT
+  #endif
+  #define TF2_PUBLIC_TYPE TF2_PUBLIC
+  #define TF2_LOCAL
+#else
+  #define TF2_EXPORT __attribute__ ((visibility("default")))
+  #define TF2_IMPORT
+  #if __GNUC__ >= 4
+    #define TF2_PUBLIC __attribute__ ((visibility("default")))
+    #define TF2_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define TF2_PUBLIC
+    #define TF2_LOCAL
+  #endif
+  #define TF2_PUBLIC_TYPE
+#endif
 
 #endif  // TF2__VISIBILITY_CONTROL_H_
diff --git a/tf2/include/tf2/visibility_control.hpp b/tf2/include/tf2/visibility_control.hpp
deleted file mode 100644
index c011ec959..000000000
--- a/tf2/include/tf2/visibility_control.hpp
+++ /dev/null
@@ -1,63 +0,0 @@
-// Copyright 2017, Open Source Robotics Foundation, Inc. All rights reserved.
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
-//
-//    * Redistributions of source code must retain the above copyright
-//      notice, this list of conditions and the following disclaimer.
-//
-//    * Redistributions in binary form must reproduce the above copyright
-//      notice, this list of conditions and the following disclaimer in the
-//      documentation and/or other materials provided with the distribution.
-//
-//    * Neither the name of the Open Source Robotics Foundation nor the names of its
-//      contributors may be used to endorse or promote products derived from
-//      this software without specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-// POSSIBILITY OF SUCH DAMAGE.
-
-#ifndef TF2__VISIBILITY_CONTROL_HPP_
-#define TF2__VISIBILITY_CONTROL_HPP_
-
-// 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 TF2_EXPORT __attribute__ ((dllexport))
-    #define TF2_IMPORT __attribute__ ((dllimport))
-  #else
-    #define TF2_EXPORT __declspec(dllexport)
-    #define TF2_IMPORT __declspec(dllimport)
-  #endif
-  #ifdef TF2_BUILDING_DLL
-    #define TF2_PUBLIC TF2_EXPORT
-  #else
-    #define TF2_PUBLIC TF2_IMPORT
-  #endif
-  #define TF2_PUBLIC_TYPE TF2_PUBLIC
-  #define TF2_LOCAL
-#else
-  #define TF2_EXPORT __attribute__ ((visibility("default")))
-  #define TF2_IMPORT
-  #if __GNUC__ >= 4
-    #define TF2_PUBLIC __attribute__ ((visibility("default")))
-    #define TF2_LOCAL  __attribute__ ((visibility("hidden")))
-  #else
-    #define TF2_PUBLIC
-    #define TF2_LOCAL
-  #endif
-  #define TF2_PUBLIC_TYPE
-#endif
-
-#endif  // TF2__VISIBILITY_CONTROL_HPP_