diff --git a/CMakeLists.txt b/CMakeLists.txt
index 34394c397..ac71f9ac8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -98,8 +98,6 @@ add_compile_definitions(QT_DISABLE_DEPRECATED_UP_TO=0x050F00)
 set(CMAKE_AUTOMOC TRUE)
 set(CMAKE_AUTOUIC TRUE)
 set(CMAKE_AUTORCC TRUE)
-cmake_policy(SET CMP0100 NEW)
-
 if(POLICY CMP0100)
   cmake_policy(SET CMP0100 NEW)
 endif()
diff --git a/src/plugins/CameraTracking/CameraTracking.cc b/src/plugins/CameraTracking/CameraTracking.cc
index cdf71cc97..cda9a446a 100644
--- a/src/plugins/CameraTracking/CameraTracking.cc
+++ b/src/plugins/CameraTracking/CameraTracking.cc
@@ -140,6 +140,9 @@ class CameraTracking::Implementation
   /// \brief The pose set from the move to pose service.
   public: std::optional<math::Pose3d> moveToPoseValue;
 
+  /// \brief The motion duration set from the move to pose service.
+  public: std::optional<double> moveToPoseDuration;
+
   /// \brief Follow service
   public: std::string followService;
 
@@ -250,6 +253,7 @@ void CameraTracking::Implementation::OnMoveToComplete()
 void CameraTracking::Implementation::OnMoveToPoseComplete()
 {
   this->moveToPoseValue.reset();
+  this->moveToPoseDuration.reset();
 }
 
 /////////////////////////////////////////////////
@@ -290,6 +294,15 @@ bool CameraTracking::Implementation::OnMoveToPose(const msgs::GUICamera &_msg,
 
   this->moveToPoseValue = pose;
 
+  if (_msg.duration() > 0)
+  {
+    this->moveToPoseDuration = _msg.duration();
+  }
+  else
+  {
+    this->moveToPoseDuration = 0.5;
+  }
+
   _res.set_data(true);
   return true;
 }
@@ -352,7 +365,8 @@ void CameraTracking::Implementation::OnRender()
       {
         this->moveToHelper.MoveTo(this->camera,
             *(this->moveToPoseValue),
-            0.5, std::bind(&Implementation::OnMoveToPoseComplete, this));
+            *(this->moveToPoseDuration),
+            std::bind(&Implementation::OnMoveToPoseComplete, this));
         this->prevMoveToTime = std::chrono::system_clock::now();
       }
       else
diff --git a/src/plugins/ImageDisplay/ImageDisplay.hh b/src/plugins/ImageDisplay/ImageDisplay.hh
index 4e3ec1e82..e89754537 100644
--- a/src/plugins/ImageDisplay/ImageDisplay.hh
+++ b/src/plugins/ImageDisplay/ImageDisplay.hh
@@ -25,7 +25,7 @@
 #include <gz/msgs/image.pb.h>
 
 #ifndef _WIN32
-#  define ImageDisplay_EXPORTS_API
+#  define ImageDisplay_EXPORTS_API __attribute__ ((visibility ("default")))
 #else
 #  if (defined(ImageDisplay_EXPORTS))
 #    define ImageDisplay_EXPORTS_API __declspec(dllexport)
diff --git a/src/plugins/KeyPublisher/KeyPublisher.hh b/src/plugins/KeyPublisher/KeyPublisher.hh
index fbb4b945b..d52fbc78e 100644
--- a/src/plugins/KeyPublisher/KeyPublisher.hh
+++ b/src/plugins/KeyPublisher/KeyPublisher.hh
@@ -19,7 +19,7 @@
 #define GZ_GUI_PLUGINS_KEYPUBLISHER_HH_
 
 #ifndef _WIN32
-#  define KeyPublisher_EXPORTS_API
+#  define KeyPublisher_EXPORTS_API __attribute__ ((visibility ("default")))
 #else
 #  if (defined(KeyPublisher_EXPORTS))
 #    define KeyPublisher_EXPORTS_API __declspec(dllexport)
diff --git a/src/plugins/Publisher/Publisher.hh b/src/plugins/Publisher/Publisher.hh
index fe8f275fa..864485066 100644
--- a/src/plugins/Publisher/Publisher.hh
+++ b/src/plugins/Publisher/Publisher.hh
@@ -24,7 +24,7 @@
 #include <gz/utils/ImplPtr.hh>
 
 #ifndef _WIN32
-#  define Publisher_EXPORTS_API
+#  define Publisher_EXPORTS_API __attribute__ ((visibility ("default")))
 #else
 #  if (defined(Publisher_EXPORTS))
 #    define Publisher_EXPORTS_API __declspec(dllexport)
diff --git a/src/plugins/ShutdownButton/ShutdownButton.hh b/src/plugins/ShutdownButton/ShutdownButton.hh
index ba5021b56..c6ba175ef 100644
--- a/src/plugins/ShutdownButton/ShutdownButton.hh
+++ b/src/plugins/ShutdownButton/ShutdownButton.hh
@@ -21,7 +21,7 @@
 #include "gz/gui/Plugin.hh"
 
 #ifndef _WIN32
-#  define ShutdownButton_EXPORTS_API
+#  define ShutdownButton_EXPORTS_API __attribute__ ((visibility ("default")))
 #else
 #  if (defined(ShutdownButton_EXPORTS))
 #    define ShutdownButton_EXPORTS_API __declspec(dllexport)
diff --git a/src/plugins/Teleop/Teleop.hh b/src/plugins/Teleop/Teleop.hh
index 596084e29..d8e770ef5 100644
--- a/src/plugins/Teleop/Teleop.hh
+++ b/src/plugins/Teleop/Teleop.hh
@@ -26,7 +26,7 @@
 #include <gz/utils/ImplPtr.hh>
 
 #ifndef _WIN32
-#  define Teleop_EXPORTS_API
+#  define Teleop_EXPORTS_API __attribute__ ((visibility ("default")))
 #else
 #  if (defined(Teleop_EXPORTS))
 #    define Teleop_EXPORTS_API __declspec(dllexport)
diff --git a/src/plugins/TopicEcho/TopicEcho.hh b/src/plugins/TopicEcho/TopicEcho.hh
index 5ffd5d358..b5876cbd5 100644
--- a/src/plugins/TopicEcho/TopicEcho.hh
+++ b/src/plugins/TopicEcho/TopicEcho.hh
@@ -28,7 +28,7 @@
 #endif
 
 #ifndef _WIN32
-#  define TopicEcho_EXPORTS_API
+#  define TopicEcho_EXPORTS_API __attribute__ ((visibility ("default")))
 #else
 #  if (defined(TopicEcho_EXPORTS))
 #    define TopicEcho_EXPORTS_API __declspec(dllexport)
diff --git a/src/plugins/TopicViewer/TopicViewer.hh b/src/plugins/TopicViewer/TopicViewer.hh
index a53d2fded..4ac8fce04 100644
--- a/src/plugins/TopicViewer/TopicViewer.hh
+++ b/src/plugins/TopicViewer/TopicViewer.hh
@@ -24,7 +24,7 @@
 #include <gz/utils/ImplPtr.hh>
 
 #ifndef _WIN32
-#  define TopicViewer_EXPORTS_API
+#  define TopicViewer_EXPORTS_API __attribute__ ((visibility ("default")))
 #else
 #  if (defined(TopicViewer_EXPORTS))
 #    define TopicViewer_EXPORTS_API __declspec(dllexport)
diff --git a/src/plugins/WorldControl/WorldControl.hh b/src/plugins/WorldControl/WorldControl.hh
index fda902b3f..8d50910a0 100644
--- a/src/plugins/WorldControl/WorldControl.hh
+++ b/src/plugins/WorldControl/WorldControl.hh
@@ -27,7 +27,7 @@
 #include <gz/utils/ImplPtr.hh>
 
 #ifndef _WIN32
-#  define WorldControl_EXPORTS_API
+#  define WorldControl_EXPORTS_API __attribute__ ((visibility ("default")))
 #else
 #  if (defined(WorldControl_EXPORTS))
 #    define WorldControl_EXPORTS_API __declspec(dllexport)
diff --git a/src/plugins/WorldControl/WorldControlEventListener.hh b/src/plugins/WorldControl/WorldControlEventListener.hh
index 5ac7a514f..88230e7ef 100644
--- a/src/plugins/WorldControl/WorldControlEventListener.hh
+++ b/src/plugins/WorldControl/WorldControlEventListener.hh
@@ -18,17 +18,27 @@
 #define GZ_GUI_WORLDCONTROLEVENTLISTENER_HH_
 
 #include "gz/gui/Application.hh"
-#include "gz/gui/Export.hh"
 #include "gz/gui/GuiEvents.hh"
 #include "gz/gui/MainWindow.hh"
 #include "gz/gui/qt.h"
 
+#ifndef _WIN32
+#  define WorldControl_EXPORTS_API __attribute__ ((visibility ("default")))
+#else
+#  if (defined(WorldControl_EXPORTS))
+#    define WorldControl_EXPORTS_API __declspec(dllexport)
+#  else
+#    define WorldControl_EXPORTS_API __declspec(dllimport)
+#  endif
+#endif
+
+
 namespace gz::gui
 {
   /// \brief Helper class for testing listening to events emitted by the
   /// WorldControl plugin. This is used for testing the event behavior of
   /// the WorldControl plugin.
-  class WorldControlEventListener : public QObject
+  class WorldControl_EXPORTS_API WorldControlEventListener : public QObject
   {
     Q_OBJECT
 
diff --git a/src/plugins/WorldStats/WorldStats.hh b/src/plugins/WorldStats/WorldStats.hh
index 07a42721e..942d47dc1 100644
--- a/src/plugins/WorldStats/WorldStats.hh
+++ b/src/plugins/WorldStats/WorldStats.hh
@@ -22,13 +22,12 @@
 
 #include <gz/msgs/world_stats.pb.h>
 
-#include "gz/gui/Export.hh"
 #include "gz/gui/Plugin.hh"
 
 #include <gz/utils/ImplPtr.hh>
 
 #ifndef _WIN32
-#  define WorldStats_EXPORTS_API
+#  define WorldStats_EXPORTS_API __attribute__ ((visibility ("default")))
 #else
 #  if (defined(WorldStats_EXPORTS))
 #    define WorldStats_EXPORTS_API __declspec(dllexport)
diff --git a/test/helpers/TestHelper.hh b/test/helpers/TestHelper.hh
index 00c2e0eb5..320db75ac 100644
--- a/test/helpers/TestHelper.hh
+++ b/test/helpers/TestHelper.hh
@@ -18,11 +18,10 @@
 #define GZ_GUI_TESTHELPER_HH_
 
 #include <gz/gui/Application.hh>
-#include <gz/gui/Export.hh>
 #include <gz/gui/MainWindow.hh>
 
 #ifndef _WIN32
-#  define TestHelper_EXPORTS_API
+#  define TestHelper_EXPORTS_API __attribute__ ((visibility ("default")))
 #else
 #  if (defined(TestHelper_EXPORTS))
 #    define TestHelper_EXPORTS_API __declspec(dllexport)