diff --git a/rosbag2_py/CMakeLists.txt b/rosbag2_py/CMakeLists.txt
index d4d4b2de79..97e74f24f9 100644
--- a/rosbag2_py/CMakeLists.txt
+++ b/rosbag2_py/CMakeLists.txt
@@ -48,20 +48,6 @@ target_link_libraries(_compression_options PUBLIC
   rosbag2_compression::rosbag2_compression
 )
 
-add_library(rosbag2_format_output SHARED
-  src/rosbag2_py/format_bag_metadata.cpp
-  src/rosbag2_py/format_service_info.cpp
-)
-target_link_libraries(rosbag2_format_output PUBLIC
-  rosbag2_cpp::rosbag2_cpp
-)
-install(
-  TARGETS rosbag2_format_output
-  LIBRARY DESTINATION lib
-  ARCHIVE DESTINATION lib
-  RUNTIME DESTINATION bin
-)
-
 pybind11_add_module(_reader SHARED
   src/rosbag2_py/_reader.cpp
 )
@@ -73,11 +59,11 @@ target_link_libraries(_reader PUBLIC
 
 pybind11_add_module(_storage SHARED
   src/rosbag2_py/_storage.cpp
+  src/rosbag2_py/format_bag_metadata.cpp
 )
 target_link_libraries(_storage PUBLIC
   rosbag2_cpp::rosbag2_cpp
   rosbag2_storage::rosbag2_storage
-  rosbag2_format_output
 )
 
 pybind11_add_module(_writer SHARED
@@ -91,11 +77,12 @@ target_link_libraries(_writer PUBLIC
 
 pybind11_add_module(_info SHARED
   src/rosbag2_py/_info.cpp
+  src/rosbag2_py/format_bag_metadata.cpp
+  src/rosbag2_py/format_service_info.cpp
 )
 target_link_libraries(_info PUBLIC
   rosbag2_cpp::rosbag2_cpp
   rosbag2_storage::rosbag2_storage
-  rosbag2_format_output
 )
 
 pybind11_add_module(_transport SHARED
diff --git a/rosbag2_py/src/rosbag2_py/_info.cpp b/rosbag2_py/src/rosbag2_py/_info.cpp
index f6e0f428a1..714a570066 100644
--- a/rosbag2_py/src/rosbag2_py/_info.cpp
+++ b/rosbag2_py/src/rosbag2_py/_info.cpp
@@ -20,7 +20,7 @@
 #include "rosbag2_cpp/info.hpp"
 #include "rosbag2_storage/bag_metadata.hpp"
 
-#include "./pybind11.hpp"
+#include "pybind11.hpp"
 
 namespace rosbag2_py
 {
diff --git a/rosbag2_py/src/rosbag2_py/_storage.cpp b/rosbag2_py/src/rosbag2_py/_storage.cpp
index 8d9c7285ec..db0c150db3 100644
--- a/rosbag2_py/src/rosbag2_py/_storage.cpp
+++ b/rosbag2_py/src/rosbag2_py/_storage.cpp
@@ -23,11 +23,9 @@
 #include "rosbag2_storage/storage_interfaces/base_read_interface.hpp"
 #include "rosbag2_storage/storage_options.hpp"
 #include "rosbag2_storage/topic_metadata.hpp"
-#include "rosbag2_storage/qos.hpp"
 
-#include "./format_bag_metadata.hpp"
-
-#include "./pybind11.hpp"
+#include "format_bag_metadata.hpp"
+#include "pybind11.hpp"
 
 namespace
 {
@@ -358,7 +356,7 @@ PYBIND11_MODULE(_storage, m) {
   .def_readwrite("ros_distro", &rosbag2_storage::BagMetadata::ros_distro)
   .def(
     "__repr__", [](const rosbag2_storage::BagMetadata & metadata) {
-      return format_bag_meta_data(metadata);
+      return rosbag2_py::format_bag_meta_data(metadata);
     });
 
   pybind11::enum_<rosbag2_storage::ReadOrder::SortBy>(m, "ReadOrderSortBy")
diff --git a/rosbag2_py/src/rosbag2_py/format_bag_metadata.cpp b/rosbag2_py/src/rosbag2_py/format_bag_metadata.cpp
index c7ed84645d..074cf332c3 100644
--- a/rosbag2_py/src/rosbag2_py/format_bag_metadata.cpp
+++ b/rosbag2_py/src/rosbag2_py/format_bag_metadata.cpp
@@ -223,6 +223,9 @@ void format_service_with_type(
 
 }  // namespace
 
+namespace rosbag2_py
+{
+
 std::string format_bag_meta_data(
   const rosbag2_storage::BagMetadata & metadata,
   bool only_topic)
@@ -270,3 +273,5 @@ std::string format_bag_meta_data(
 
   return info_stream.str();
 }
+
+}  // namespace rosbag2_py
diff --git a/rosbag2_py/src/rosbag2_py/format_bag_metadata.hpp b/rosbag2_py/src/rosbag2_py/format_bag_metadata.hpp
index bfc9fa5c29..dabd871f93 100644
--- a/rosbag2_py/src/rosbag2_py/format_bag_metadata.hpp
+++ b/rosbag2_py/src/rosbag2_py/format_bag_metadata.hpp
@@ -18,9 +18,13 @@
 #include <string>
 
 #include "rosbag2_storage/bag_metadata.hpp"
-#include "visibility_control.hpp"
 
-ROSBAG2_PY_PUBLIC std::string format_bag_meta_data(
+namespace rosbag2_py
+{
+
+std::string format_bag_meta_data(
   const rosbag2_storage::BagMetadata & metadata, bool only_topic = false);
 
+}  // namespace rosbag2_py
+
 #endif  // ROSBAG2_PY__FORMAT_BAG_METADATA_HPP_
diff --git a/rosbag2_py/src/rosbag2_py/format_service_info.cpp b/rosbag2_py/src/rosbag2_py/format_service_info.cpp
index aec57a0550..a14ee89e01 100644
--- a/rosbag2_py/src/rosbag2_py/format_service_info.cpp
+++ b/rosbag2_py/src/rosbag2_py/format_service_info.cpp
@@ -16,6 +16,9 @@
 
 #include "format_service_info.hpp"
 
+namespace rosbag2_py
+{
+
 std::string
 format_service_info(
   std::vector<std::shared_ptr<rosbag2_cpp::rosbag2_service_info_t>> & service_info_list)
@@ -49,3 +52,5 @@ format_service_info(
 
   return info_stream.str();
 }
+
+}  // namespace rosbag2_py
diff --git a/rosbag2_py/src/rosbag2_py/format_service_info.hpp b/rosbag2_py/src/rosbag2_py/format_service_info.hpp
index d91269b68f..d5cb5fc788 100644
--- a/rosbag2_py/src/rosbag2_py/format_service_info.hpp
+++ b/rosbag2_py/src/rosbag2_py/format_service_info.hpp
@@ -20,9 +20,13 @@
 #include <vector>
 
 #include "rosbag2_cpp/info.hpp"
-#include "visibility_control.hpp"
 
-ROSBAG2_PY_PUBLIC std::string format_service_info(
+namespace rosbag2_py
+{
+
+std::string format_service_info(
   std::vector<std::shared_ptr<rosbag2_cpp::rosbag2_service_info_t>> & service_info);
 
+}  // namespace rosbag2_py
+
 #endif  // ROSBAG2_PY__FORMAT_SERVICE_INFO_HPP_
diff --git a/rosbag2_py/src/rosbag2_py/visibility_control.hpp b/rosbag2_py/src/rosbag2_py/visibility_control.hpp
deleted file mode 100644
index 5b7f557b00..0000000000
--- a/rosbag2_py/src/rosbag2_py/visibility_control.hpp
+++ /dev/null
@@ -1,58 +0,0 @@
-// Copyright 2018 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef ROSBAG2_PY__VISIBILITY_CONTROL_HPP_
-#define ROSBAG2_PY__VISIBILITY_CONTROL_HPP_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-// 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 ROSBAG2_PY_EXPORT __attribute__ ((dllexport))
-    #define ROSBAG2_PY_IMPORT __attribute__ ((dllimport))
-  #else
-    #define ROSBAG2_PY_EXPORT __declspec(dllexport)
-    #define ROSBAG2_PY_IMPORT __declspec(dllimport)
-  #endif
-  #ifdef ROSBAG2_PY_BUILDING_DLL
-    #define ROSBAG2_PY_PUBLIC ROSBAG2_PY_EXPORT
-  #else
-    #define ROSBAG2_PY_PUBLIC ROSBAG2_PY_IMPORT
-  #endif
-  #define ROSBAG2_PY_PUBLIC_TYPE ROSBAG2_PY_PUBLIC
-  #define ROSBAG2_PY_LOCAL
-#else
-  #define ROSBAG2_PY_EXPORT __attribute__ ((visibility("default")))
-  #define ROSBAG2_PY_IMPORT
-  #if __GNUC__ >= 4
-    #define ROSBAG2_PY_PUBLIC __attribute__ ((visibility("default")))
-    #define ROSBAG2_PY_LOCAL  __attribute__ ((visibility("hidden")))
-  #else
-    #define ROSBAG2_PY_PUBLIC
-    #define ROSBAG2_PY_LOCAL
-  #endif
-  #define ROSBAG2_PY_PUBLIC_TYPE
-#endif
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // ROSBAG2_PY__VISIBILITY_CONTROL_HPP_