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-#warning This header is obsolete, please include tf2/visibility_control.hpp instead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_