diff --git a/rclcpp/include/rclcpp/rate.hpp b/rclcpp/include/rclcpp/rate.hpp
index 76ebb71b05..c06d8aec01 100644
--- a/rclcpp/include/rclcpp/rate.hpp
+++ b/rclcpp/include/rclcpp/rate.hpp
@@ -164,7 +164,7 @@ class RCLCPP_PUBLIC WallRate : public Rate
   explicit WallRate(const Duration & period);
 };
 
-class ROSRate : public Rate
+class RCLCPP_PUBLIC ROSRate : public Rate
 {
 public:
   explicit ROSRate(const double rate);