diff --git a/cmake/GtsamBuildTypes.cmake b/cmake/GtsamBuildTypes.cmake
index aa35fea05..06b25ab06 100644
--- a/cmake/GtsamBuildTypes.cmake
+++ b/cmake/GtsamBuildTypes.cmake
@@ -94,7 +94,8 @@ if(MSVC)
   set(GTSAM_COMPILE_OPTIONS_PRIVATE_TIMING          /MD /O2  CACHE STRING "(User editable) Private compiler flags for Timing configuration.")
 else()
   # Common to all configurations, next for each configuration:
-  set(GTSAM_COMPILE_OPTIONS_PRIVATE_COMMON          -Wall CACHE STRING "(User editable) Private compiler flags for all configurations.")
+  # "-fPIC" is to ensure proper code generation for shared libraries
+  set(GTSAM_COMPILE_OPTIONS_PRIVATE_COMMON          -Wall -fPIC CACHE STRING "(User editable) Private compiler flags for all configurations.")
   set(GTSAM_COMPILE_OPTIONS_PRIVATE_DEBUG           -g -fno-inline  CACHE STRING "(User editable) Private compiler flags for Debug configuration.")
   set(GTSAM_COMPILE_OPTIONS_PRIVATE_RELWITHDEBINFO  -g -O3  CACHE STRING "(User editable) Private compiler flags for RelWithDebInfo configuration.")
   set(GTSAM_COMPILE_OPTIONS_PRIVATE_RELEASE         -O3  CACHE STRING "(User editable) Private compiler flags for Release configuration.")