diff --git a/CMakeLists.txt b/CMakeLists.txt
index 32b9f9f..b03e386 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -10,6 +10,19 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
+if(WIN32)
+  add_compile_definitions(
+    # For math constants
+    # https://docs.microsoft.com/en-us/cpp/c-runtime-library/math-constants?view=vs-2019
+    _USE_MATH_DEFINES
+    # Minimize Windows namespace collision
+    NOMINMAX
+    WIN32_LEAN_AND_MEAN
+  )
+  # set the same behavior for windows as it is on linux
+  set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+endif()
+
 ##############################################################################
 # Find dependencies
 ##############################################################################
@@ -17,6 +30,10 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(rclcpp REQUIRED)
+
+if(WIN32 AND POLICY CMP0167)
+  cmake_policy(SET CMP0167 NEW)
+endif()
 find_package(Boost QUIET COMPONENTS headers)
 if(NOT Boost_headers_FOUND)
   find_package(Boost REQUIRED)
diff --git a/include/filters/median.hpp b/include/filters/median.hpp
index 77a7691..7dd2273 100644
--- a/include/filters/median.hpp
+++ b/include/filters/median.hpp
@@ -165,7 +165,7 @@ bool MedianFilter<T>::update(const T & data_in, T & data_out)
   for (size_t row = 0; row < length; ++row) {
     temp_storage_[row] = (*data_storage_)[row];
   }
-  data_out = median(&temp_storage_[0], length);
+  data_out = median(&temp_storage_[0], static_cast<int>(length));
 
   return true;
 }
diff --git a/test/test_realtime_circular_buffer.cpp b/test/test_realtime_circular_buffer.cpp
index 34b3ca3..f525b62 100644
--- a/test/test_realtime_circular_buffer.cpp
+++ b/test/test_realtime_circular_buffer.cpp
@@ -28,10 +28,9 @@
  */
 
 #include <gtest/gtest.h>
-#include <sys/time.h>
 
 #include <vector>
-#include <utility>
+
 #include "filters/realtime_circular_buffer.hpp"
 
 TEST(RealtimeCircularBuffer, InitializationScalar)