diff --git a/rcl/CMakeLists.txt b/rcl/CMakeLists.txt
index 1c1043b2b2..86354b14b1 100644
--- a/rcl/CMakeLists.txt
+++ b/rcl/CMakeLists.txt
@@ -12,7 +12,7 @@ find_package(rosidl_generator_c REQUIRED)
 find_package(tinydir_vendor REQUIRED)
 
 include_directories(include)
-include(cmake/configure_rcl.cmake)
+include(cmake/rcl_set_symbol_visibility_hidden.cmake)
 include(cmake/get_default_rcl_logging_implementation.cmake)
 get_default_rcl_logging_implementation(RCL_LOGGING_IMPL)
 
@@ -73,7 +73,7 @@ ament_target_dependencies(${PROJECT_NAME}
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
 target_compile_definitions(${PROJECT_NAME} PRIVATE "RCL_BUILDING_DLL")
-configure_rcl(${PROJECT_NAME} LANGUAGE "C")
+rcl_set_symbol_visibility_hidden(${PROJECT_NAME} LANGUAGE "C")
 
 install(
   TARGETS ${PROJECT_NAME}
diff --git a/rcl/cmake/configure_rcl.cmake b/rcl/cmake/rcl_set_symbol_visibility_hidden.cmake
similarity index 88%
rename from rcl/cmake/configure_rcl.cmake
rename to rcl/cmake/rcl_set_symbol_visibility_hidden.cmake
index 5bcb0983ce..ceacbe0388 100644
--- a/rcl/cmake/configure_rcl.cmake
+++ b/rcl/cmake/rcl_set_symbol_visibility_hidden.cmake
@@ -28,10 +28,10 @@
 #
 # @public
 #
-macro(configure_rcl library_target)
+macro(rcl_set_symbol_visibility_hidden library_target)
   cmake_parse_arguments(_ARG "" "LANGUAGE" "" ${ARGN})
   if(_ARG_UNPARSED_ARGUMENTS)
-    message(FATAL_ERROR "configure_rcl() called with unused arguments: ${_ARG_UNPARSED_ARGUMENTS}")
+    message(FATAL_ERROR "rcl_set_symbol_visibility_hidden() called with unused arguments: ${_ARG_UNPARSED_ARGUMENTS}")
   endif()
 
   if(NOT _ARG_LANGUAGE)
@@ -61,6 +61,6 @@ macro(configure_rcl library_target)
     endif()
 
   else()
-    message(FATAL_ERROR "configure_rcl() called with unsupported LANGUAGE: '${_ARG_LANGUAGE}'")
+    message(FATAL_ERROR "rcl_set_symbol_visibility_hidden() called with unsupported LANGUAGE: '${_ARG_LANGUAGE}'")
   endif()
 endmacro()
diff --git a/rcl/rcl-extras.cmake b/rcl/rcl-extras.cmake
index c6fac3d5b1..24e83b57c2 100644
--- a/rcl/rcl-extras.cmake
+++ b/rcl/rcl-extras.cmake
@@ -12,4 +12,4 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-include("${rcl_DIR}/configure_rcl.cmake")
+include("${rcl_DIR}/rcl_set_symbol_visibility_hidden.cmake")
diff --git a/rcl_action/CMakeLists.txt b/rcl_action/CMakeLists.txt
index 7387cd8476..75541e2fc9 100644
--- a/rcl_action/CMakeLists.txt
+++ b/rcl_action/CMakeLists.txt
@@ -57,7 +57,7 @@ ament_target_dependencies(${PROJECT_NAME}
   "rosidl_generator_c"
 )
 
-configure_rcl(${PROJECT_NAME} LANGUAGE "C")
+rcl_set_symbol_visibility_hidden(${PROJECT_NAME} LANGUAGE "C")
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
 target_compile_definitions(${PROJECT_NAME} PRIVATE "RCL_ACTION_BUILDING_DLL")
diff --git a/rcl_lifecycle/CMakeLists.txt b/rcl_lifecycle/CMakeLists.txt
index 3c04dcffe0..3bf53351d3 100644
--- a/rcl_lifecycle/CMakeLists.txt
+++ b/rcl_lifecycle/CMakeLists.txt
@@ -48,7 +48,7 @@ ament_target_dependencies(rcl_lifecycle
   "rcutils"
 )
 
-configure_rcl(${PROJECT_NAME} LANGUAGE "C")
+rcl_set_symbol_visibility_hidden(${PROJECT_NAME} LANGUAGE "C")
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
 target_compile_definitions(rcl_lifecycle PRIVATE "RCL_LIFECYCLE_BUILDING_DLL")