diff --git a/clients/roscpp/CMakeLists.txt b/clients/roscpp/CMakeLists.txt
index af68f8e13a..9fc475643b 100644
--- a/clients/roscpp/CMakeLists.txt
+++ b/clients/roscpp/CMakeLists.txt
@@ -124,6 +124,10 @@ add_library(roscpp
   src/libros/steady_timer.cpp
   )
 
+if(WIN32)
+  add_definitions(-DNOGDI)
+endif()
+
 add_dependencies(roscpp ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 target_link_libraries(roscpp
@@ -131,6 +135,10 @@ target_link_libraries(roscpp
   ${Boost_LIBRARIES}
   )
 
+if(WIN32)
+  target_link_libraries(roscpp ws2_32)
+endif()
+
 #explicitly install library and includes
 install(TARGETS roscpp
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
diff --git a/clients/roscpp/src/libros/init.cpp b/clients/roscpp/src/libros/init.cpp
index fa3a0430d8..61782462e4 100644
--- a/clients/roscpp/src/libros/init.cpp
+++ b/clients/roscpp/src/libros/init.cpp
@@ -316,13 +316,6 @@ void start()
     }
   }
 
-#ifdef _MSC_VER
-  if (env_ipv6)
-  {
-    free(env_ipv6);
-  }
-#endif
-
   param::param("/tcp_keepalive", TransportTCP::s_use_keepalive_, TransportTCP::s_use_keepalive_);
 
   PollManager::instance()->addPollThreadListener(checkForShutdown);
@@ -430,6 +423,13 @@ void check_ipv6_environment() {
   bool use_ipv6 = (env_ipv6 && strcmp(env_ipv6,"on") == 0);
   TransportTCP::s_use_ipv6_ = use_ipv6;
   XmlRpc::XmlRpcSocket::s_use_ipv6_ = use_ipv6;
+
+#ifdef _MSC_VER
+  if (env_ipv6)
+  {
+    free(env_ipv6);
+  }
+#endif
 }
 
 void init(const M_string& remappings, const std::string& name, uint32_t options)
@@ -454,6 +454,9 @@ void init(const M_string& remappings, const std::string& name, uint32_t options)
     // Disable SIGPIPE
 #ifndef WIN32
     signal(SIGPIPE, SIG_IGN);
+#else
+    WSADATA wsaData;
+    WSAStartup(MAKEWORD(2, 0), &wsaData);
 #endif
     check_ipv6_environment();
     network::init(remappings);
diff --git a/clients/roscpp/src/libros/internal_timer_manager.cpp b/clients/roscpp/src/libros/internal_timer_manager.cpp
index 564c2bfbe0..4f5f751412 100644
--- a/clients/roscpp/src/libros/internal_timer_manager.cpp
+++ b/clients/roscpp/src/libros/internal_timer_manager.cpp
@@ -26,7 +26,7 @@
  */
 
 // Make sure we use CLOCK_MONOTONIC for the condition variable if not Apple.
-#ifndef __APPLE__
+#if !defined(__APPLE__) && !defined(WIN32)
 #define BOOST_THREAD_HAS_CONDATTR_SET_CLOCK_MONOTONIC
 #endif
 
diff --git a/clients/roscpp/src/libros/steady_timer.cpp b/clients/roscpp/src/libros/steady_timer.cpp
index 69af3ac9b5..fac976a263 100644
--- a/clients/roscpp/src/libros/steady_timer.cpp
+++ b/clients/roscpp/src/libros/steady_timer.cpp
@@ -26,7 +26,7 @@
  */
 
 // Make sure we use CLOCK_MONOTONIC for the condition variable if not Apple.
-#ifndef __APPLE__
+#if !defined(__APPLE__) && !defined(WIN32)
 #define BOOST_THREAD_HAS_CONDATTR_SET_CLOCK_MONOTONIC
 #endif
 
@@ -44,6 +44,7 @@
 namespace ros
 {
 
+#if !defined(WIN32)
 // specialization for SteadyTimer, to make sure we use a version with wait_until that uses the monotonic clock
 template<>
 void TimerManager<SteadyTime, WallDuration, SteadyTimerEvent>::threadFunc()
@@ -111,6 +112,7 @@ void TimerManager<SteadyTime, WallDuration, SteadyTimerEvent>::threadFunc()
     new_timer_ = false;
   }
 }
+#endif
 
 SteadyTimer::Impl::Impl()
   : started_(false)
diff --git a/clients/roscpp/src/libros/topic_manager.cpp b/clients/roscpp/src/libros/topic_manager.cpp
index 363fb05e10..e4725b1cd2 100644
--- a/clients/roscpp/src/libros/topic_manager.cpp
+++ b/clients/roscpp/src/libros/topic_manager.cpp
@@ -1000,8 +1000,6 @@ void TopicManager::getPublications(XmlRpcValue &pubs)
   }
 }
 
-extern std::string console::g_last_error_message;
-
 void TopicManager::pubUpdateCallback(XmlRpc::XmlRpcValue& params, XmlRpc::XmlRpcValue& result)
 {
   std::vector<std::string> pubs;
diff --git a/clients/roscpp/src/libros/transport/transport.cpp b/clients/roscpp/src/libros/transport/transport.cpp
index b4c3fbb30b..1fdda36f86 100644
--- a/clients/roscpp/src/libros/transport/transport.cpp
+++ b/clients/roscpp/src/libros/transport/transport.cpp
@@ -34,11 +34,15 @@
 
 #include "ros/transport/transport.h"
 #include "ros/console.h"
+#if defined(WIN32)
+#include <winsock2.h>
+#else
 #include <netinet/in.h>
 #include <sys/socket.h>
 #include <netdb.h>
+#endif
 
-#if !defined(__ANDROID__)
+#if !defined(__ANDROID__) && !defined(WIN32)
 #include <ifaddrs.h>
 #endif
 
@@ -71,7 +75,7 @@ Transport::Transport()
   gethostname(our_hostname, sizeof(our_hostname)-1);
   allowed_hosts_.push_back(std::string(our_hostname));
   allowed_hosts_.push_back("localhost");
-#if !defined(__ANDROID__)
+#if !defined(__ANDROID__) && !defined(WIN32)
   // for ipv4 loopback, we'll explicitly search for 127.* in isHostAllowed()
   // now we need to iterate all local interfaces and add their addresses
   // from the getifaddrs manpage:  (maybe something similar for windows ?) 
diff --git a/tools/rosbag_storage/include/rosbag/bag.h b/tools/rosbag_storage/include/rosbag/bag.h
index ebb2ae263f..c65533011e 100644
--- a/tools/rosbag_storage/include/rosbag/bag.h
+++ b/tools/rosbag_storage/include/rosbag/bag.h
@@ -96,7 +96,7 @@ class MessageInstance;
 class View;
 class Query;
 
-class ROSBAG_DECL Bag
+class ROSBAG_STORAGE_DECL Bag
 {
     friend class MessageInstance;
     friend class View;
diff --git a/tools/rosbag_storage/include/rosbag/buffer.h b/tools/rosbag_storage/include/rosbag/buffer.h
index aef6c99e4b..cdf5af01e8 100644
--- a/tools/rosbag_storage/include/rosbag/buffer.h
+++ b/tools/rosbag_storage/include/rosbag/buffer.h
@@ -40,7 +40,7 @@
 
 namespace rosbag {
 
-class ROSBAG_DECL Buffer
+class ROSBAG_STORAGE_DECL Buffer
 {
 public:
     Buffer();
diff --git a/tools/rosbag_storage/include/rosbag/chunked_file.h b/tools/rosbag_storage/include/rosbag/chunked_file.h
index 722aeca3ea..dc0310c8e3 100644
--- a/tools/rosbag_storage/include/rosbag/chunked_file.h
+++ b/tools/rosbag_storage/include/rosbag/chunked_file.h
@@ -48,7 +48,7 @@
 namespace rosbag {
 
 //! ChunkedFile reads and writes files which contain interleaved chunks of compressed and uncompressed data.
-class ROSBAG_DECL ChunkedFile
+class ROSBAG_STORAGE_DECL ChunkedFile
 {
     friend class Stream;
 
diff --git a/tools/rosbag_storage/include/rosbag/macros.h b/tools/rosbag_storage/include/rosbag/macros.h
index 967465f4ec..5ddc9059eb 100644
--- a/tools/rosbag_storage/include/rosbag/macros.h
+++ b/tools/rosbag_storage/include/rosbag/macros.h
@@ -38,8 +38,16 @@
   #else // we are using shared lib/dll
     #define ROSBAG_DECL ROS_HELPER_IMPORT
   #endif
+
+  #ifdef rosbag_storage_EXPORTS // we are building a shared lib/dll
+    #define ROSBAG_STORAGE_DECL ROS_HELPER_EXPORT
+  #else // we are using shared lib/dll
+    #define ROSBAG_STORAGE_DECL ROS_HELPER_IMPORT
+  #endif
+
 #else // ros is being built around static libraries
   #define ROSBAG_DECL
+  #define ROSBAG_STORAGE_DECL
 #endif
 
 #endif /* ROSBAG_MACROS_H_ */
diff --git a/tools/rosbag_storage/include/rosbag/message_instance.h b/tools/rosbag_storage/include/rosbag/message_instance.h
index 7f18ec6fdc..299ce65fc6 100644
--- a/tools/rosbag_storage/include/rosbag/message_instance.h
+++ b/tools/rosbag_storage/include/rosbag/message_instance.h
@@ -56,7 +56,7 @@ class Bag;
  *  It adheres to the necessary ros::message_traits to be directly
  *  serializable.
  */
-class ROSBAG_DECL MessageInstance
+class ROSBAG_STORAGE_DECL MessageInstance
 {
     friend class View;
   
diff --git a/tools/rosbag_storage/include/rosbag/query.h b/tools/rosbag_storage/include/rosbag/query.h
index fd43214c2f..2c8c56900b 100644
--- a/tools/rosbag_storage/include/rosbag/query.h
+++ b/tools/rosbag_storage/include/rosbag/query.h
@@ -49,7 +49,7 @@ namespace rosbag {
 
 class Bag;
 
-class ROSBAG_DECL Query
+class ROSBAG_STORAGE_DECL Query
 {
 public:
     //! The base query takes an optional time-range
@@ -72,7 +72,7 @@ class ROSBAG_DECL Query
     ros::Time end_time_;
 };
 
-class ROSBAG_DECL TopicQuery
+class ROSBAG_STORAGE_DECL TopicQuery
 {
 public:
     TopicQuery(std::string const& topic);
@@ -84,7 +84,7 @@ class ROSBAG_DECL TopicQuery
     std::vector<std::string> topics_;
 };
 
-class ROSBAG_DECL TypeQuery
+class ROSBAG_STORAGE_DECL TypeQuery
 {
 public:
     TypeQuery(std::string const& type);
@@ -97,7 +97,7 @@ class ROSBAG_DECL TypeQuery
 };
 
 //! Pairs of queries and the bags they come from (used internally by View)
-struct ROSBAG_DECL BagQuery
+struct ROSBAG_STORAGE_DECL BagQuery
 {
     BagQuery(Bag const* _bag, Query const& _query, uint32_t _bag_revision);
 
@@ -106,7 +106,7 @@ struct ROSBAG_DECL BagQuery
     uint32_t   bag_revision;
 };
 
-struct ROSBAG_DECL MessageRange
+struct ROSBAG_STORAGE_DECL MessageRange
 {
     MessageRange(std::multiset<IndexEntry>::const_iterator const& _begin,
                  std::multiset<IndexEntry>::const_iterator const& _end,
@@ -120,7 +120,7 @@ struct ROSBAG_DECL MessageRange
 };
 
 //! The actual iterator data structure
-struct ROSBAG_DECL ViewIterHelper
+struct ROSBAG_STORAGE_DECL ViewIterHelper
 {
     ViewIterHelper(std::multiset<IndexEntry>::const_iterator _iter, MessageRange const* _range);
 
@@ -128,7 +128,7 @@ struct ROSBAG_DECL ViewIterHelper
     MessageRange const* range;  //!< pointer to vector of ranges in View
 };
 
-struct ROSBAG_DECL ViewIterHelperCompare
+struct ROSBAG_STORAGE_DECL ViewIterHelperCompare
 {
     bool operator()(ViewIterHelper const& a, ViewIterHelper const& b);
 };
diff --git a/tools/rosbag_storage/include/rosbag/stream.h b/tools/rosbag_storage/include/rosbag/stream.h
index 2ef7fac3ea..e9a0ca0557 100644
--- a/tools/rosbag_storage/include/rosbag/stream.h
+++ b/tools/rosbag_storage/include/rosbag/stream.h
@@ -65,7 +65,7 @@ class ChunkedFile;
 
 class FileAccessor;
 
-class ROSBAG_DECL Stream
+class ROSBAG_STORAGE_DECL Stream
 {
     friend class FileAccessor;
 public:
@@ -100,7 +100,7 @@ class ROSBAG_DECL Stream
     ChunkedFile* file_;
 };
 
-class ROSBAG_DECL StreamFactory
+class ROSBAG_STORAGE_DECL StreamFactory
 {
 public:
     StreamFactory(ChunkedFile* file);
@@ -120,7 +120,7 @@ class FileAccessor {
     }
 };
 
-class ROSBAG_DECL UncompressedStream : public Stream
+class ROSBAG_STORAGE_DECL UncompressedStream : public Stream
 {
 public:
     UncompressedStream(ChunkedFile* file);
@@ -136,7 +136,7 @@ class ROSBAG_DECL UncompressedStream : public Stream
 /*!
  * BZ2Stream uses libbzip2 (http://www.bzip.org) for reading/writing compressed data in the BZ2 format.
  */
-class ROSBAG_DECL BZ2Stream : public Stream
+class ROSBAG_STORAGE_DECL BZ2Stream : public Stream
 {
 public:
     BZ2Stream(ChunkedFile* file);
@@ -164,7 +164,7 @@ class ROSBAG_DECL BZ2Stream : public Stream
 
 // LZ4Stream reads/writes compressed datat in the LZ4 format
 // https://code.google.com/p/lz4/
-class ROSBAG_DECL LZ4Stream : public Stream
+class ROSBAG_STORAGE_DECL LZ4Stream : public Stream
 {
 public:
     LZ4Stream(ChunkedFile* file);
diff --git a/tools/rosbag_storage/include/rosbag/structures.h b/tools/rosbag_storage/include/rosbag/structures.h
index ad75b1ee95..72db0e3c1e 100644
--- a/tools/rosbag_storage/include/rosbag/structures.h
+++ b/tools/rosbag_storage/include/rosbag/structures.h
@@ -44,7 +44,7 @@
 
 namespace rosbag {
 
-struct ROSBAG_DECL ConnectionInfo
+struct ROSBAG_STORAGE_DECL ConnectionInfo
 {
     ConnectionInfo() : id(-1) { }
 
@@ -66,14 +66,14 @@ struct ChunkInfo
     std::map<uint32_t, uint32_t> connection_counts;   //! number of messages in each connection stored in the chunk
 };
 
-struct ROSBAG_DECL ChunkHeader
+struct ROSBAG_STORAGE_DECL ChunkHeader
 {
     std::string compression;          //! chunk compression type, e.g. "none" or "bz2" (see constants.h)
     uint32_t    compressed_size;      //! compressed size of the chunk in bytes
     uint32_t    uncompressed_size;    //! uncompressed size of the chunk in bytes
 };
 
-struct ROSBAG_DECL IndexEntry
+struct ROSBAG_STORAGE_DECL IndexEntry
 {
     ros::Time time;            //! timestamp of the message
     uint64_t  chunk_pos;       //! absolute byte offset of the chunk record containing the message
@@ -82,7 +82,7 @@ struct ROSBAG_DECL IndexEntry
     bool operator<(IndexEntry const& b) const { return time < b.time; }
 };
 
-struct ROSBAG_DECL IndexEntryCompare
+struct ROSBAG_STORAGE_DECL IndexEntryCompare
 {
     bool operator()(ros::Time const& a, IndexEntry const& b) const { return a < b.time; }
     bool operator()(IndexEntry const& a, ros::Time const& b) const { return a.time < b; }
diff --git a/tools/rosbag_storage/include/rosbag/view.h b/tools/rosbag_storage/include/rosbag/view.h
index ea9048adb9..9cdcee98a3 100644
--- a/tools/rosbag_storage/include/rosbag/view.h
+++ b/tools/rosbag_storage/include/rosbag/view.h
@@ -45,7 +45,7 @@
 
 namespace rosbag {
 
-class ROSBAG_DECL View
+class ROSBAG_STORAGE_DECL View
 {
     friend class Bag;
 
diff --git a/tools/roslaunch/src/roslaunch/nodeprocess.py b/tools/roslaunch/src/roslaunch/nodeprocess.py
index 27cc62b377..bbe92ff4e4 100644
--- a/tools/roslaunch/src/roslaunch/nodeprocess.py
+++ b/tools/roslaunch/src/roslaunch/nodeprocess.py
@@ -306,7 +306,14 @@ def start(self):
             _logger.info("process[%s]: cwd will be [%s]", self.name, cwd)
 
             try:
-                self.popen = subprocess.Popen(self.args, cwd=cwd, stdout=logfileout, stderr=logfileerr, env=full_env, close_fds=True, preexec_fn=os.setsid)
+                preexec_function = os.setsid
+                close_file_descriptor = True
+            except AttributeError:
+                preexec_function = None
+                close_file_descriptor = False
+
+            try:
+                self.popen = subprocess.Popen(self.args, cwd=cwd, stdout=logfileout, stderr=logfileerr, env=full_env, close_fds=close_file_descriptor, preexec_fn=preexec_function)
             except OSError as e:
                 self.started = True # must set so is_alive state is correct
                 _logger.error("OSError(%d, %s)", e.errno, e.strerror)
diff --git a/utilities/roslz4/CMakeLists.txt b/utilities/roslz4/CMakeLists.txt
index ae9d75f370..e56584a65f 100644
--- a/utilities/roslz4/CMakeLists.txt
+++ b/utilities/roslz4/CMakeLists.txt
@@ -6,7 +6,7 @@ if(NOT WIN32)
   set_directory_properties(PROPERTIES COMPILE_OPTIONS "-Wall;-Wextra")
 endif()
 
-find_package(catkin REQUIRED)
+find_package(catkin REQUIRED COMPONENTS cpp_common)
 
 find_path(lz4_INCLUDE_DIRS NAMES lz4.h)
 if (NOT lz4_INCLUDE_DIRS)
@@ -28,9 +28,11 @@ catkin_package(
 
 include_directories(include ${lz4_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
 add_library(roslz4 src/lz4s.c src/xxhash.c)
-set_source_files_properties(
-  src/lz4s.c
-PROPERTIES COMPILE_FLAGS "-Wno-sign-compare")
+if (NOT WIN32)
+  set_source_files_properties(
+    src/lz4s.c
+    PROPERTIES COMPILE_FLAGS "-Wno-sign-compare")
+endif()
 set_source_files_properties(
   src/lz4s.c src/xxhash.c
 PROPERTIES COMPILE_DEFINITIONS "XXH_NAMESPACE=ROSLZ4_")
@@ -43,12 +45,18 @@ find_package(PythonLibs "${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}" REQUIR
 include_directories(${PYTHON_INCLUDE_PATH})
 
 add_library(roslz4_py src/_roslz4module.c)
-set_source_files_properties(
-  src/_roslz4module.c
-PROPERTIES COMPILE_FLAGS "-Wno-missing-field-initializers -Wno-unused-variable -Wno-strict-aliasing")
-set_target_properties(
-  roslz4_py PROPERTIES OUTPUT_NAME roslz4 PREFIX "_" SUFFIX ".so"
+if (NOT WIN32)
+  set_source_files_properties(
+    src/_roslz4module.c
+    PROPERTIES COMPILE_FLAGS "-Wno-missing-field-initializers -Wno-unused-variable -Wno-strict-aliasing")
+endif()
+set_target_properties(roslz4_py PROPERTIES
   LIBRARY_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${PYTHON_INSTALL_DIR}/roslz4)
+if (NOT WIN32)
+  set_target_properties(roslz4_py PROPERTIES OUTPUT_NAME roslz4 PREFIX "_" SUFFIX ".so")
+else()
+  set_target_properties(roslz4_py PROPERTIES OUTPUT_NAME _roslz4 SUFFIX ".pyd")
+endif()
 target_link_libraries(roslz4_py roslz4 ${catkin_LIBRARIES} ${PYTHON_LIBRARIES})
 endif()
 
@@ -60,7 +68,9 @@ install(TARGETS roslz4
 
 if(NOT ANDROID)
 install(TARGETS roslz4_py
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION})
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION})
 endif()
 
 install(DIRECTORY include/${PROJECT_NAME}
diff --git a/utilities/roslz4/include/roslz4/lz4s.h b/utilities/roslz4/include/roslz4/lz4s.h
index 6d8dd271c0..ece489ca72 100644
--- a/utilities/roslz4/include/roslz4/lz4s.h
+++ b/utilities/roslz4/include/roslz4/lz4s.h
@@ -36,6 +36,18 @@
 #define ROSLZ4_LZ4S_H
 
 #include <lz4.h>
+#include <ros/macros.h>
+
+// Import/export for windows dll's and visibility for gcc shared libraries.
+#ifdef ROS_BUILD_SHARED_LIBS // ros is being built around shared libraries
+  #ifdef roslz4_EXPORTS // we are building a shared lib/dll
+    #define ROSLZ4S_DECL ROS_HELPER_EXPORT
+  #else // we are using shared lib/dll
+    #define ROSLZ4S_DECL ROS_HELPER_IMPORT
+  #endif
+#else // ros is being built around static libraries
+  #define ROSLZ4S_DECL
+#endif
 
 #ifdef __cplusplus
 extern "C" {
@@ -71,22 +83,22 @@ typedef struct {
 } roslz4_stream;
 
 // Low level functions
-int roslz4_blockSizeFromIndex(int block_id);
+ROSLZ4S_DECL int roslz4_blockSizeFromIndex(int block_id);
 
-int roslz4_compressStart(roslz4_stream *stream, int block_size_id);
-int roslz4_compress(roslz4_stream *stream, int action);
-void roslz4_compressEnd(roslz4_stream *stream);
+ROSLZ4S_DECL int roslz4_compressStart(roslz4_stream *stream, int block_size_id);
+ROSLZ4S_DECL int roslz4_compress(roslz4_stream *stream, int action);
+ROSLZ4S_DECL void roslz4_compressEnd(roslz4_stream *stream);
 
-int roslz4_decompressStart(roslz4_stream *stream);
-int roslz4_decompress(roslz4_stream *stream);
-void roslz4_decompressEnd(roslz4_stream *str);
+ROSLZ4S_DECL int roslz4_decompressStart(roslz4_stream *stream);
+ROSLZ4S_DECL int roslz4_decompress(roslz4_stream *stream);
+ROSLZ4S_DECL void roslz4_decompressEnd(roslz4_stream *str);
 
 // Oneshot compression / decompression
-int roslz4_buffToBuffCompress(char *input, unsigned int input_size,
-                              char *output, unsigned int *output_size,
-                              int block_size_id);
-int roslz4_buffToBuffDecompress(char *input, unsigned int input_size,
-                                char *output, unsigned int *output_size);
+ROSLZ4S_DECL int roslz4_buffToBuffCompress(char *input, unsigned int input_size,
+                                           char *output, unsigned int *output_size,
+                                           int block_size_id);
+ROSLZ4S_DECL int roslz4_buffToBuffDecompress(char *input, unsigned int input_size,
+                                             char *output, unsigned int *output_size);
 
 #ifdef __cplusplus
 }
diff --git a/utilities/roslz4/package.xml b/utilities/roslz4/package.xml
index b2cc5754b0..24127a6eb7 100644
--- a/utilities/roslz4/package.xml
+++ b/utilities/roslz4/package.xml
@@ -15,6 +15,7 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <build_depend>lz4</build_depend>
+  <build_depend>cpp_common</build_depend>
 
   <run_depend>lz4</run_depend>
 
diff --git a/utilities/roslz4/src/lz4s.c b/utilities/roslz4/src/lz4s.c
index 85e46c72d7..e7c804e6a4 100644
--- a/utilities/roslz4/src/lz4s.c
+++ b/utilities/roslz4/src/lz4s.c
@@ -80,9 +80,11 @@ void writeUInt32(unsigned char *buffer, uint32_t val) {
   buffer[3] = (val >> 24) & 0xFF;
 }
 
+#ifndef _MSC_VER
 int min(int a, int b) {
   return a < b ? a : b;
 }
+#endif
 
 /*========================== Low level compression ==========================*/
 
diff --git a/utilities/xmlrpcpp/include/xmlrpcpp/XmlRpcDispatch.h b/utilities/xmlrpcpp/include/xmlrpcpp/XmlRpcDispatch.h
index 3177fdb907..441ccd8596 100644
--- a/utilities/xmlrpcpp/include/xmlrpcpp/XmlRpcDispatch.h
+++ b/utilities/xmlrpcpp/include/xmlrpcpp/XmlRpcDispatch.h
@@ -12,6 +12,7 @@
 
 #ifndef MAKEDEPEND
 # include <list>
+# include <vector>
 #endif
 
 namespace XmlRpc {
diff --git a/utilities/xmlrpcpp/include/xmlrpcpp/XmlRpcServer.h b/utilities/xmlrpcpp/include/xmlrpcpp/XmlRpcServer.h
index 1069755aac..4b40794930 100644
--- a/utilities/xmlrpcpp/include/xmlrpcpp/XmlRpcServer.h
+++ b/utilities/xmlrpcpp/include/xmlrpcpp/XmlRpcServer.h
@@ -15,7 +15,11 @@
 # include <map>
 # include <string>
 # include <vector>
-# include <poll.h>
+# if defined(_WINDOWS)
+#  include <winsock2.h>
+# else
+#  include <poll.h>
+# endif
 #endif
 
 #include "xmlrpcpp/XmlRpcDispatch.h"
diff --git a/utilities/xmlrpcpp/src/XmlRpcDispatch.cpp b/utilities/xmlrpcpp/src/XmlRpcDispatch.cpp
index a47666b5a5..c211a430a4 100644
--- a/utilities/xmlrpcpp/src/XmlRpcDispatch.cpp
+++ b/utilities/xmlrpcpp/src/XmlRpcDispatch.cpp
@@ -8,7 +8,6 @@
 #include <math.h>
 #include <errno.h>
 #include <sys/timeb.h>
-#include <sys/poll.h>
 
 #if defined(_WINDOWS)
 # include <winsock2.h>
@@ -23,6 +22,7 @@ static inline int poll( struct pollfd *pfd, int nfds, int timeout)
 #  define ftime _ftime_s
 # endif
 #else
+# include <sys/poll.h>
 # include <sys/time.h>
 #endif  // _WINDOWS
 
@@ -87,8 +87,13 @@ XmlRpcDispatch::work(double timeout)
   const unsigned POLLIN_CHK = (POLLIN | POLLHUP | POLLERR); // Readable or connection lost
   const unsigned POLLOUT_REQ = POLLOUT; // Request write
   const unsigned POLLOUT_CHK = (POLLOUT | POLLERR); // Writable or connection lost
+#if !defined(_WINDOWS)
   const unsigned POLLEX_REQ = POLLPRI; // Out-of-band data received
   const unsigned POLLEX_CHK = (POLLPRI | POLLNVAL); // Out-of-band data or invalid fd
+#else
+  const unsigned POLLEX_REQ = POLLRDBAND; // Out-of-band data received
+  const unsigned POLLEX_CHK = (POLLRDBAND | POLLNVAL); // Out-of-band data or invalid fd
+#endif
 
   // Compute end time
   _endTime = (timeout < 0.0) ? -1.0 : (getTime() + timeout);
@@ -101,8 +106,8 @@ XmlRpcDispatch::work(double timeout)
 
     // Construct the sets of descriptors we are interested in
     const unsigned source_cnt = _sources.size();
-    pollfd fds[source_cnt];
-    XmlRpcSource * sources[source_cnt];
+    std::vector<pollfd> fds(source_cnt);
+    std::vector<XmlRpcSource *> sources(source_cnt);
 
     SourceList::iterator it;
     std::size_t i = 0;
@@ -117,12 +122,16 @@ XmlRpcDispatch::work(double timeout)
     }
 
     // Check for events
-    int nEvents = poll(fds, source_cnt, (timeout_ms < 0) ? -1 : timeout_ms);
+    int nEvents = poll(&fds[0], source_cnt, (timeout_ms < 0) ? -1 : timeout_ms);
 
     if (nEvents < 0)
     {
+#if defined(_WINDOWS)
+      XmlRpcUtil::error("Error in XmlRpcDispatch::work: error in poll (%d).", WSAGetLastError());
+#else
       if(errno != EINTR)
         XmlRpcUtil::error("Error in XmlRpcDispatch::work: error in poll (%d).", nEvents);
+#endif
       _inWork = false;
       return;
     }
diff --git a/utilities/xmlrpcpp/src/XmlRpcServer.cpp b/utilities/xmlrpcpp/src/XmlRpcServer.cpp
index 3b84286780..bd252c27b7 100644
--- a/utilities/xmlrpcpp/src/XmlRpcServer.cpp
+++ b/utilities/xmlrpcpp/src/XmlRpcServer.cpp
@@ -11,7 +11,9 @@
 
 #include <errno.h>
 #include <string.h>
-#include <sys/resource.h>
+#if !defined(_WINDOWS)
+# include <sys/resource.h>
+#endif
 
 using namespace XmlRpc;
 
@@ -26,6 +28,7 @@ XmlRpcServer::XmlRpcServer()
     _accept_error(false),
     _accept_retry_time_sec(0.0)
 {
+#if !defined(_WINDOWS)
   struct rlimit limit = { .rlim_cur = 0, .rlim_max = 0 };
   unsigned int max_files = 1024;
 
@@ -43,6 +46,7 @@ XmlRpcServer::XmlRpcServer()
     pollfds[i].fd = i;
     pollfds[i].events = POLLIN | POLLPRI | POLLOUT;
   }
+#endif
 
   // Ask dispatch not to close this socket if it becomes unreadable.
   setKeepOpen(true);
@@ -215,6 +219,8 @@ int XmlRpcServer::countFreeFDs() {
   //
   // If the underlying system calls here fail, this will print an error and
   // return 0
+
+#if !defined(_WINDOWS)
   int free_fds = 0;
 
   struct rlimit limit = { .rlim_cur = 0, .rlim_max = 0 };
@@ -253,6 +259,9 @@ int XmlRpcServer::countFreeFDs() {
   }
 
   return free_fds;
+#else
+  return FREE_FD_BUFFER;
+#endif
 }
 
 
diff --git a/utilities/xmlrpcpp/src/XmlRpcSocket.cpp b/utilities/xmlrpcpp/src/XmlRpcSocket.cpp
index 8c5fce05df..7cbfc7567f 100644
--- a/utilities/xmlrpcpp/src/XmlRpcSocket.cpp
+++ b/utilities/xmlrpcpp/src/XmlRpcSocket.cpp
@@ -209,9 +209,13 @@ XmlRpcSocket::connect(int fd, const std::string& host, int port)
   hints.ai_family = AF_UNSPEC;
   int getaddr_err = getaddrinfo(host.c_str(), NULL, &hints, &addr);
   if (0 != getaddr_err) {
+#if !defined(_WINDOWS)
     if(getaddr_err == EAI_SYSTEM) {
       XmlRpcUtil::error("Couldn't find an %s address for [%s]: %s\n", s_use_ipv6_ ? "AF_INET6" : "AF_INET", host.c_str(), XmlRpcSocket::getErrorMsg().c_str());
     } else {
+#else
+    {
+#endif
       XmlRpcUtil::error("Couldn't find an %s address for [%s]: %s\n", s_use_ipv6_ ? "AF_INET6" : "AF_INET", host.c_str(), gai_strerror(getaddr_err));
     }
     return false;