diff --git a/tesseract_task_composer/core/CMakeLists.txt b/tesseract_task_composer/core/CMakeLists.txt
index 586a85e43d..f05b077614 100644
--- a/tesseract_task_composer/core/CMakeLists.txt
+++ b/tesseract_task_composer/core/CMakeLists.txt
@@ -17,8 +17,6 @@ add_library(
   src/task_composer_server.cpp
   src/task_composer_task.cpp)
 
-generate_export_header(${PROJECT_NAME})
-
 target_link_libraries(
   ${PROJECT_NAME}
   PUBLIC console_bridge::console_bridge
@@ -54,6 +52,9 @@ add_library(
   src/nodes/start_task.cpp
   src/nodes/sync_task.cpp
   src/test_suite/test_task.cpp)
+
+generate_export_header(${PROJECT_NAME}_nodes)
+
 target_link_libraries(
   ${PROJECT_NAME}_nodes
   PUBLIC ${PROJECT_NAME}
@@ -104,7 +105,7 @@ install(
   PATTERN "*.h"
   PATTERN "*.hpp")
 
-install(FILES ${PROJECT_BINARY_DIR}/core/tesseract_task_composer_export.h DESTINATION include/${PROJECT_NAME}/core/
+install(FILES ${PROJECT_BINARY_DIR}/core/tesseract_task_composer_nodes_export.h DESTINATION include/${PROJECT_NAME}/core/
         COMPONENT core)
 
 # Plugin should not be export only installed
diff --git a/tesseract_task_composer/core/include/tesseract_task_composer/core/nodes/has_data_storage_entry_task.h b/tesseract_task_composer/core/include/tesseract_task_composer/core/nodes/has_data_storage_entry_task.h
index fec21704d0..e9bbc213ac 100644
--- a/tesseract_task_composer/core/include/tesseract_task_composer/core/nodes/has_data_storage_entry_task.h
+++ b/tesseract_task_composer/core/include/tesseract_task_composer/core/nodes/has_data_storage_entry_task.h
@@ -5,6 +5,7 @@
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <tesseract_task_composer/core/tesseract_task_composer_nodes_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_task.h>
@@ -12,11 +13,11 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 namespace tesseract_planning
 {
 class TaskComposerPluginFactory;
-class HasDataStorageEntryTask : public TaskComposerTask
+class TESSERACT_TASK_COMPOSER_NODES_EXPORT HasDataStorageEntryTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_KEYS_PORT;
+  static const std::string INPUT_KEYS_PORT;
 
   using Ptr = std::shared_ptr<HasDataStorageEntryTask>;
   using ConstPtr = std::shared_ptr<const HasDataStorageEntryTask>;
diff --git a/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_node.h b/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_node.h
index f61ae1d40c..a15b62278f 100644
--- a/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_node.h
+++ b/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_node.h
@@ -34,7 +34,6 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/uuid/uuid.hpp>
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
-#include <tesseract_task_composer/core/tesseract_task_composer_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_common/fwd.h>
diff --git a/tesseract_task_composer/planning/CMakeLists.txt b/tesseract_task_composer/planning/CMakeLists.txt
index ff337f1f7f..ddf2eae619 100644
--- a/tesseract_task_composer/planning/CMakeLists.txt
+++ b/tesseract_task_composer/planning/CMakeLists.txt
@@ -1,3 +1,6 @@
+# Need to create export header so static class variables can be exported on windows build
+include(GenerateExportHeader)
+
 find_package(tesseract_command_language REQUIRED)
 find_package(
   tesseract_motion_planners REQUIRED
@@ -138,8 +141,11 @@ target_code_coverage(
   ENABLE ${TESSERACT_ENABLE_CODE_COVERAGE})
 target_include_directories(
   ${PROJECT_NAME}_planning_nodes PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+                                        "$<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/../>"
                                         "$<INSTALL_INTERFACE:include>")
 
+generate_export_header(${PROJECT_NAME}_planning_nodes)
+
 # Create factories target
 add_library(${PROJECT_NAME}_planning_factories ${FACTORIES_SOURCE_FILES})
 target_link_libraries(${PROJECT_NAME}_planning_factories PUBLIC ${FACTORIES_SOURCE_LINK_LIBRARIES})
@@ -171,6 +177,9 @@ install(
   PATTERN "*.hpp"
   PATTERN ".svn" EXCLUDE)
 
+install(FILES ${PROJECT_BINARY_DIR}/planning/tesseract_task_composer_planning_nodes_export.h DESTINATION include/${PROJECT_NAME}/planning/
+  COMPONENT planning)
+
 # Plugin should not be export only installed
 install(
   TARGETS ${PROJECT_NAME}_planning_factories
diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/continuous_contact_check_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/continuous_contact_check_task.h
index e4b2c64cf1..a096b3942e 100644
--- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/continuous_contact_check_task.h
+++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/continuous_contact_check_task.h
@@ -30,6 +30,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <vector>
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <tesseract_task_composer/planning/tesseract_task_composer_planning_nodes_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_task.h>
@@ -41,17 +42,17 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 namespace tesseract_planning
 {
 class TaskComposerPluginFactory;
-class ContinuousContactCheckTask : public TaskComposerTask
+class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT ContinuousContactCheckTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROGRAM_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_ENVIRONMENT_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROFILES_PORT;
+  static const std::string INPUT_PROGRAM_PORT;
+  static const std::string INPUT_ENVIRONMENT_PORT;
+  static const std::string INPUT_PROFILES_PORT;
 
   // Optional
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_MANIP_INFO_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
+  static const std::string INPUT_MANIP_INFO_PORT;
+  static const std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
 
   using Ptr = std::shared_ptr<ContinuousContactCheckTask>;
   using ConstPtr = std::shared_ptr<const ContinuousContactCheckTask>;
diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/discrete_contact_check_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/discrete_contact_check_task.h
index c19d8ed7ec..5600e70d78 100644
--- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/discrete_contact_check_task.h
+++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/discrete_contact_check_task.h
@@ -30,6 +30,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <vector>
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <tesseract_task_composer/planning/tesseract_task_composer_planning_nodes_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_task.h>
@@ -41,17 +42,17 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 namespace tesseract_planning
 {
 class TaskComposerPluginFactory;
-class DiscreteContactCheckTask : public TaskComposerTask
+class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT DiscreteContactCheckTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROGRAM_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_ENVIRONMENT_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROFILES_PORT;
+  static const std::string INPUT_PROGRAM_PORT;
+  static const std::string INPUT_ENVIRONMENT_PORT;
+  static const std::string INPUT_PROFILES_PORT;
 
   // Optional
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_MANIP_INFO_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
+  static const std::string INPUT_MANIP_INFO_PORT;
+  static const std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
 
   using Ptr = std::shared_ptr<DiscreteContactCheckTask>;
   using ConstPtr = std::shared_ptr<const DiscreteContactCheckTask>;
diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/fix_state_bounds_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/fix_state_bounds_task.h
index 1c405d6f6d..8c80cc0dcf 100644
--- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/fix_state_bounds_task.h
+++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/fix_state_bounds_task.h
@@ -30,6 +30,7 @@
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <tesseract_task_composer/planning/tesseract_task_composer_planning_nodes_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_task.h>
@@ -42,17 +43,17 @@ class TaskComposerPluginFactory;
  * @brief This task modifies the input instructions in order to push waypoints that are outside of their
  * limits back within them.
  */
-class FixStateBoundsTask : public TaskComposerTask
+class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT FixStateBoundsTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INOUT_PROGRAM_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_ENVIRONMENT_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROFILES_PORT;
+  static const std::string INOUT_PROGRAM_PORT;
+  static const std::string INPUT_ENVIRONMENT_PORT;
+  static const std::string INPUT_PROFILES_PORT;
 
   // Optional
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_MANIP_INFO_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
+  static const std::string INPUT_MANIP_INFO_PORT;
+  static const std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
 
   using Ptr = std::shared_ptr<FixStateBoundsTask>;
   using ConstPtr = std::shared_ptr<const FixStateBoundsTask>;
diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/fix_state_collision_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/fix_state_collision_task.h
index 2c673cfec9..d10dadd08e 100644
--- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/fix_state_collision_task.h
+++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/fix_state_collision_task.h
@@ -30,6 +30,7 @@
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <tesseract_task_composer/planning/tesseract_task_composer_planning_nodes_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_task.h>
@@ -50,17 +51,17 @@ struct FixStateCollisionProfile;
  *
  * First it uses TrajOpt to correct the waypoint. If that fails, it reverts to random sampling
  */
-class FixStateCollisionTask : public TaskComposerTask
+class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT FixStateCollisionTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INOUT_PROGRAM_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_ENVIRONMENT_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROFILES_PORT;
+  static const std::string INOUT_PROGRAM_PORT;
+  static const std::string INPUT_ENVIRONMENT_PORT;
+  static const std::string INPUT_PROFILES_PORT;
 
   // Optional
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_MANIP_INFO_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
+  static const std::string INPUT_MANIP_INFO_PORT;
+  static const std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
 
   using Ptr = std::shared_ptr<FixStateCollisionTask>;
   using ConstPtr = std::shared_ptr<const FixStateCollisionTask>;
diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/format_as_input_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/format_as_input_task.h
index 0b4e584c26..0cb33fab55 100644
--- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/format_as_input_task.h
+++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/format_as_input_task.h
@@ -33,6 +33,7 @@
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <tesseract_task_composer/planning/tesseract_task_composer_planning_nodes_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_task.h>
@@ -51,13 +52,13 @@ class TaskComposerPluginFactory;
  * input_keys[0]: The original input to motion planning
  * input_keys[1]: The output of the first motion plan which failed collision checking
  */
-class FormatAsInputTask : public TaskComposerTask
+class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT FormatAsInputTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PRE_PLANNING_PROGRAM_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_POST_PLANNING_PROGRAM_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string OUTPUT_PROGRAM_PORT;
+  static const std::string INPUT_PRE_PLANNING_PROGRAM_PORT;
+  static const std::string INPUT_POST_PLANNING_PROGRAM_PORT;
+  static const std::string OUTPUT_PROGRAM_PORT;
 
   using Ptr = std::shared_ptr<FormatAsInputTask>;
   using ConstPtr = std::shared_ptr<const FormatAsInputTask>;
diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/format_as_result_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/format_as_result_task.h
index 9290567966..29ffabd75a 100644
--- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/format_as_result_task.h
+++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/format_as_result_task.h
@@ -5,6 +5,7 @@
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <tesseract_task_composer/planning/tesseract_task_composer_planning_nodes_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_task.h>
@@ -12,11 +13,11 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 namespace tesseract_planning
 {
 class TaskComposerPluginFactory;
-class FormatAsResultTask : public TaskComposerTask
+class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT FormatAsResultTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INOUT_PROGRAMS_PORT;
+  static const std::string INOUT_PROGRAMS_PORT;
 
   using Ptr = std::shared_ptr<FormatAsResultTask>;
   using ConstPtr = std::shared_ptr<const FormatAsResultTask>;
diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/iterative_spline_parameterization_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/iterative_spline_parameterization_task.h
index 685246cb31..3947c5b8ad 100644
--- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/iterative_spline_parameterization_task.h
+++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/iterative_spline_parameterization_task.h
@@ -30,6 +30,7 @@
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <tesseract_task_composer/planning/tesseract_task_composer_planning_nodes_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_task.h>
@@ -39,18 +40,18 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 namespace tesseract_planning
 {
 class TaskComposerPluginFactory;
-class IterativeSplineParameterizationTask : public TaskComposerTask
+class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT IterativeSplineParameterizationTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INOUT_PROGRAM_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_ENVIRONMENT_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROFILES_PORT;
+  static const std::string INOUT_PROGRAM_PORT;
+  static const std::string INPUT_ENVIRONMENT_PORT;
+  static const std::string INPUT_PROFILES_PORT;
 
   // Optional
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_MANIP_INFO_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_MOVE_PROFILE_REMAPPING_PORT;
+  static const std::string INPUT_MANIP_INFO_PORT;
+  static const std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
+  static const std::string INPUT_MOVE_PROFILE_REMAPPING_PORT;
 
   using Ptr = std::shared_ptr<IterativeSplineParameterizationTask>;
   using ConstPtr = std::shared_ptr<const IterativeSplineParameterizationTask>;
diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/min_length_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/min_length_task.h
index 8d8fc29ff8..2afc4c8499 100644
--- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/min_length_task.h
+++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/min_length_task.h
@@ -31,6 +31,7 @@
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <tesseract_task_composer/planning/tesseract_task_composer_planning_nodes_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_task.h>
@@ -38,16 +39,16 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 namespace tesseract_planning
 {
 class TaskComposerPluginFactory;
-class MinLengthTask : public TaskComposerTask
+class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT MinLengthTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INOUT_PROGRAM_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_ENVIRONMENT_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROFILES_PORT;
+  static const std::string INOUT_PROGRAM_PORT;
+  static const std::string INPUT_ENVIRONMENT_PORT;
+  static const std::string INPUT_PROFILES_PORT;
 
   // Optional
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
+  static const std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
 
   using Ptr = std::shared_ptr<MinLengthTask>;
   using ConstPtr = std::shared_ptr<const MinLengthTask>;
diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/motion_planner_task.hpp b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/motion_planner_task.hpp
index b3e106e472..0fad182cdf 100644
--- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/motion_planner_task.hpp
+++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/motion_planner_task.hpp
@@ -53,14 +53,14 @@ class MotionPlannerTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INOUT_PROGRAM_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_ENVIRONMENT_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROFILES_PORT;
+  static const std::string INOUT_PROGRAM_PORT;
+  static const std::string INPUT_ENVIRONMENT_PORT;
+  static const std::string INPUT_PROFILES_PORT;
 
   // Optional
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_MANIP_INFO_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_MOVE_PROFILE_REMAPPING_PORT;
+  static const std::string INPUT_MANIP_INFO_PORT;
+  static const std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
+  static const std::string INPUT_MOVE_PROFILE_REMAPPING_PORT;
 
   MotionPlannerTask() : TaskComposerTask("MotionPlannerTask", MotionPlannerTask<MotionPlannerType>::ports(), true) {}
   explicit MotionPlannerTask(std::string name,  // NOLINT(performance-unnecessary-value-param)
diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/process_planning_input_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/process_planning_input_task.h
index 9f78e58ee4..ad45629796 100644
--- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/process_planning_input_task.h
+++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/process_planning_input_task.h
@@ -31,6 +31,7 @@
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <tesseract_task_composer/planning/tesseract_task_composer_planning_nodes_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_task.h>
@@ -38,12 +39,12 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 namespace tesseract_planning
 {
 class TaskComposerPluginFactory;
-class ProcessPlanningInputTask : public TaskComposerTask
+class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT ProcessPlanningInputTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PLANNING_INPUT_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string OUTPUT_PROGRAM_PORT;
+  static const std::string INPUT_PLANNING_INPUT_PORT;
+  static const std::string OUTPUT_PROGRAM_PORT;
 
   using Ptr = std::shared_ptr<ProcessPlanningInputTask>;
   using ConstPtr = std::shared_ptr<const ProcessPlanningInputTask>;
diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/profile_switch_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/profile_switch_task.h
index 94665b3055..d0873270f7 100644
--- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/profile_switch_task.h
+++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/profile_switch_task.h
@@ -28,6 +28,7 @@
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <tesseract_task_composer/planning/tesseract_task_composer_planning_nodes_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_task.h>
@@ -39,15 +40,15 @@ class TaskComposerPluginFactory;
  * @brief This task simply returns a value specified in the composite profile. This can be used to switch execution
  * based on the profile
  */
-class ProfileSwitchTask : public TaskComposerTask
+class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT ProfileSwitchTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROGRAM_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROFILES_PORT;
+  static const std::string INPUT_PROGRAM_PORT;
+  static const std::string INPUT_PROFILES_PORT;
 
   // Optional
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
+  static const std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
 
   using Ptr = std::shared_ptr<ProfileSwitchTask>;
   using ConstPtr = std::shared_ptr<const ProfileSwitchTask>;
diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/raster_motion_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/raster_motion_task.h
index ec6bf7f2de..03482d67ee 100644
--- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/raster_motion_task.h
+++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/raster_motion_task.h
@@ -31,6 +31,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
 #include <functional>
+#include <tesseract_task_composer/planning/tesseract_task_composer_planning_nodes_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_task.h>
@@ -56,15 +57,15 @@ class TaskComposerPluginFactory;
  * }
  */
 
-class RasterMotionTask : public TaskComposerTask
+class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT RasterMotionTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INOUT_PROGRAM_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_ENVIRONMENT_PORT;
+  static const std::string INOUT_PROGRAM_PORT;
+  static const std::string INPUT_ENVIRONMENT_PORT;
 
   // Optional
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_MANIP_INFO_PORT;
+  static const std::string INPUT_MANIP_INFO_PORT;
 
   struct TaskFactoryResults
   {
diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/raster_only_motion_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/raster_only_motion_task.h
index c102cc4a38..2410b4164f 100644
--- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/raster_only_motion_task.h
+++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/raster_only_motion_task.h
@@ -31,6 +31,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
 #include <functional>
+#include <tesseract_task_composer/planning/tesseract_task_composer_planning_nodes_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_task.h>
@@ -52,15 +53,15 @@ class TaskComposerPluginFactory;
  *   Composite - Raster segment
  * }
  */
-class RasterOnlyMotionTask : public TaskComposerTask
+class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT RasterOnlyMotionTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INOUT_PROGRAM_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_ENVIRONMENT_PORT;
+  static const std::string INOUT_PROGRAM_PORT;
+  static const std::string INPUT_ENVIRONMENT_PORT;
 
   // Optional
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_MANIP_INFO_PORT;
+  static const std::string INPUT_MANIP_INFO_PORT;
 
   struct TaskFactoryResults
   {
diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/ruckig_trajectory_smoothing_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/ruckig_trajectory_smoothing_task.h
index 9873bb1fd0..8ed42834fb 100644
--- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/ruckig_trajectory_smoothing_task.h
+++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/ruckig_trajectory_smoothing_task.h
@@ -28,6 +28,7 @@
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <tesseract_task_composer/planning/tesseract_task_composer_planning_nodes_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_task.h>
@@ -35,18 +36,18 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 namespace tesseract_planning
 {
 class TaskComposerPluginFactory;
-class RuckigTrajectorySmoothingTask : public TaskComposerTask
+class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT RuckigTrajectorySmoothingTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INOUT_PROGRAM_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_ENVIRONMENT_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROFILES_PORT;
+  static const std::string INOUT_PROGRAM_PORT;
+  static const std::string INPUT_ENVIRONMENT_PORT;
+  static const std::string INPUT_PROFILES_PORT;
 
   // Optional
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_MANIP_INFO_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_MOVE_PROFILE_REMAPPING_PORT;
+  static const std::string INPUT_MANIP_INFO_PORT;
+  static const std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
+  static const std::string INPUT_MOVE_PROFILE_REMAPPING_PORT;
 
   using Ptr = std::shared_ptr<RuckigTrajectorySmoothingTask>;
   using ConstPtr = std::shared_ptr<const RuckigTrajectorySmoothingTask>;
diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/time_optimal_parameterization_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/time_optimal_parameterization_task.h
index 2423961aae..116141e159 100644
--- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/time_optimal_parameterization_task.h
+++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/time_optimal_parameterization_task.h
@@ -31,6 +31,7 @@
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <tesseract_task_composer/planning/tesseract_task_composer_planning_nodes_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_task.h>
@@ -39,18 +40,18 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 namespace tesseract_planning
 {
 class TaskComposerPluginFactory;
-class TimeOptimalParameterizationTask : public TaskComposerTask
+class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT TimeOptimalParameterizationTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INOUT_PROGRAM_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_ENVIRONMENT_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROFILES_PORT;
+  static const std::string INOUT_PROGRAM_PORT;
+  static const std::string INPUT_ENVIRONMENT_PORT;
+  static const std::string INPUT_PROFILES_PORT;
 
   // Optional
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_MANIP_INFO_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_MOVE_PROFILE_REMAPPING_PORT;
+  static const std::string INPUT_MANIP_INFO_PORT;
+  static const std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
+  static const std::string INPUT_MOVE_PROFILE_REMAPPING_PORT;
 
   using Ptr = std::shared_ptr<TimeOptimalParameterizationTask>;
   using ConstPtr = std::shared_ptr<const TimeOptimalParameterizationTask>;
diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/update_end_state_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/update_end_state_task.h
index ff4f706098..ccc1960f09 100644
--- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/update_end_state_task.h
+++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/update_end_state_task.h
@@ -29,19 +29,20 @@
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <tesseract_task_composer/planning/tesseract_task_composer_planning_nodes_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_task.h>
 
 namespace tesseract_planning
 {
-class UpdateEndStateTask : public TaskComposerTask
+class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT UpdateEndStateTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_CURRENT_PROGRAM_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_NEXT_PROGRAM_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string OUTPUT_PROGRAM_PORT;
+  static const std::string INPUT_CURRENT_PROGRAM_PORT;
+  static const std::string INPUT_NEXT_PROGRAM_PORT;
+  static const std::string OUTPUT_PROGRAM_PORT;
 
   using Ptr = std::shared_ptr<UpdateEndStateTask>;
   using ConstPtr = std::shared_ptr<const UpdateEndStateTask>;
diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/update_start_and_end_state_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/update_start_and_end_state_task.h
index 95d8f4ac84..42917107ff 100644
--- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/update_start_and_end_state_task.h
+++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/update_start_and_end_state_task.h
@@ -29,20 +29,21 @@
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <tesseract_task_composer/planning/tesseract_task_composer_planning_nodes_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_task.h>
 
 namespace tesseract_planning
 {
-class UpdateStartAndEndStateTask : public TaskComposerTask
+class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT UpdateStartAndEndStateTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PREVIOUS_PROGRAM_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_CURRENT_PROGRAM_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_NEXT_PROGRAM_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string OUTPUT_PROGRAM_PORT;
+  static const std::string INPUT_PREVIOUS_PROGRAM_PORT;
+  static const std::string INPUT_CURRENT_PROGRAM_PORT;
+  static const std::string INPUT_NEXT_PROGRAM_PORT;
+  static const std::string OUTPUT_PROGRAM_PORT;
 
   using Ptr = std::shared_ptr<UpdateStartAndEndStateTask>;
   using ConstPtr = std::shared_ptr<const UpdateStartAndEndStateTask>;
diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/update_start_state_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/update_start_state_task.h
index de60a5e365..7f39a9f5b3 100644
--- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/update_start_state_task.h
+++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/update_start_state_task.h
@@ -29,19 +29,20 @@
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <tesseract_task_composer/planning/tesseract_task_composer_planning_nodes_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_task.h>
 
 namespace tesseract_planning
 {
-class UpdateStartStateTask : public TaskComposerTask
+class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT UpdateStartStateTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PREVIOUS_PROGRAM_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_CURRENT_PROGRAM_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string OUTPUT_PROGRAM_PORT;
+  static const std::string INPUT_PREVIOUS_PROGRAM_PORT;
+  static const std::string INPUT_CURRENT_PROGRAM_PORT;
+  static const std::string OUTPUT_PROGRAM_PORT;
 
   using Ptr = std::shared_ptr<UpdateStartStateTask>;
   using ConstPtr = std::shared_ptr<const UpdateStartStateTask>;
diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/upsample_trajectory_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/upsample_trajectory_task.h
index 11c8ad3c85..918da768db 100644
--- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/upsample_trajectory_task.h
+++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/upsample_trajectory_task.h
@@ -29,6 +29,7 @@
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <tesseract_task_composer/planning/tesseract_task_composer_planning_nodes_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_task.h>
@@ -43,15 +44,15 @@ class TaskComposerPluginFactory;
  * assume joint interpolated between states. If the points are spaced to fart apart the path between
  * two states may not be a straight line causing collision during execution.
  */
-class UpsampleTrajectoryTask : public TaskComposerTask
+class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT UpsampleTrajectoryTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INOUT_PROGRAM_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROFILES_PORT;
+  static const std::string INOUT_PROGRAM_PORT;
+  static const std::string INPUT_PROFILES_PORT;
 
   // Optional
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
+  static const std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
 
   using Ptr = std::shared_ptr<UpsampleTrajectoryTask>;
   using ConstPtr = std::shared_ptr<const UpsampleTrajectoryTask>;
diff --git a/tesseract_task_composer/test/tesseract_task_composer_plugin_factories_unit.cpp b/tesseract_task_composer/test/tesseract_task_composer_plugin_factories_unit.cpp
index 47769eb592..78bde3db9c 100644
--- a/tesseract_task_composer/test/tesseract_task_composer_plugin_factories_unit.cpp
+++ b/tesseract_task_composer/test/tesseract_task_composer_plugin_factories_unit.cpp
@@ -134,8 +134,15 @@ TEST(TesseractTaskComposerFactoryUnit, LoadAndExportPluginTest)  // NOLINT
   }
 
   {  // String Constructor
+#ifdef TESSERACT_TASK_COMPOSER_HAS_TRAJOPT_IFOPT
     tesseract_common::fs::path config_path(std::string(TESSERACT_TASK_COMPOSER_DIR) + "/config/"
                                                                                       "task_composer_plugins.yaml");
+#else
+    tesseract_common::fs::path config_path(std::string(TESSERACT_TASK_COMPOSER_DIR) + "/config/"
+                                                                                      "task_composer_plugins_no_"
+                                                                                      "trajopt_"
+                                                                                      "ifopt.yaml");
+#endif
 
     TaskComposerPluginFactory factory(tesseract_common::fileToString(config_path));
     YAML::Node plugin_config = YAML::LoadFile(config_path.string());
@@ -148,8 +155,15 @@ TEST(TesseractTaskComposerFactoryUnit, LoadAndExportPluginTest)  // NOLINT
   }
 
   {  // YAML Node Constructor
+#ifdef TESSERACT_TASK_COMPOSER_HAS_TRAJOPT_IFOPT
     tesseract_common::fs::path config_path(std::string(TESSERACT_TASK_COMPOSER_DIR) + "/config/"
                                                                                       "task_composer_plugins.yaml");
+#else
+    tesseract_common::fs::path config_path(std::string(TESSERACT_TASK_COMPOSER_DIR) + "/config/"
+                                                                                      "task_composer_plugins_no_"
+                                                                                      "trajopt_"
+                                                                                      "ifopt.yaml");
+#endif
 
     YAML::Node plugin_config = YAML::LoadFile(config_path.string());
     TaskComposerPluginFactory factory(plugin_config);
@@ -163,8 +177,15 @@ TEST(TesseractTaskComposerFactoryUnit, LoadAndExportPluginTest)  // NOLINT
 
   // TaskComposerPluginInfo Constructor
   {
+#ifdef TESSERACT_TASK_COMPOSER_HAS_TRAJOPT_IFOPT
     tesseract_common::fs::path config_path(std::string(TESSERACT_TASK_COMPOSER_DIR) + "/config/"
                                                                                       "task_composer_plugins.yaml");
+#else
+    tesseract_common::fs::path config_path(std::string(TESSERACT_TASK_COMPOSER_DIR) + "/config/"
+                                                                                      "task_composer_plugins_no_"
+                                                                                      "trajopt_"
+                                                                                      "ifopt.yaml");
+#endif
 
     YAML::Node plugin_config = YAML::LoadFile(config_path.string());
     const YAML::Node& plugins = plugin_config[tesseract_common::TaskComposerPluginInfo::CONFIG_KEY];