diff --git a/xml_converter/CMakeLists.txt b/xml_converter/CMakeLists.txt
index cc1e940d..db9747f3 100644
--- a/xml_converter/CMakeLists.txt
+++ b/xml_converter/CMakeLists.txt
@@ -3,49 +3,56 @@ project (XMLConverter)
 
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
+
+### Shared Infrastructure ######################################################
+set(CORE_LIB core_lib)
+
 # Generate Protobuf
 FIND_PACKAGE(Protobuf REQUIRED)
 INCLUDE_DIRECTORIES(${PROTOBUF_INCLUDE_DIR})
 INCLUDE_DIRECTORIES(${CMAKE_CURRENT_BINARY_DIR})
 PROTOBUF_GENERATE_CPP(PROTO_SRC PROTO_HEADER proto/waypoint.proto)
 
-# Name Output File
-set(TARGET_NAME xml_converter)
-
 # Add Dependencies
 file(GLOB_RECURSE SOURCES "src/*.cpp")
+list(REMOVE_ITEM SOURCES "${CMAKE_CURRENT_SOURCE_DIR}/src/xml_converter.cpp")
 
-# Set output as executable.
-# TODO: This will eventually become a library when it gets integrated into burrito.
-add_executable (${TARGET_NAME} ${SOURCES} ${PROTO_SRC})
+# Create a static library for common sources
+add_library(${CORE_LIB} STATIC ${SOURCES} ${PROTO_SRC})
 
-# include libraies
-target_link_libraries(${TARGET_NAME} ${Protobuf_LIBRARIES})
+# Include protobuf libraies.
+target_link_libraries(${CORE_LIB} PUBLIC ${Protobuf_LIBRARIES})
 
 # Require C++ 17 or newer.
-target_compile_features(${TARGET_NAME} PRIVATE cxx_std_17)
-
-# Enable Extra Warnings and Errors
+target_compile_features(${CORE_LIB} PUBLIC cxx_std_17)
 if(MSVC)
-  target_compile_options(${TARGET_NAME} PRIVATE /W4 /WX)
+  target_compile_options(${CORE_LIB} PUBLIC /W4 /WX)
 else()
-  target_compile_options(${TARGET_NAME} PRIVATE -Wall -Wextra -Wpedantic)
+  target_compile_options(${CORE_LIB} PUBLIC -Wall -Wextra -Wpedantic)
 endif()
 
+
+### CLI Executable #############################################################
+# Name Output File
+set(TARGET_NAME xml_converter)
+
+# Set output as executable.
+add_executable(${TARGET_NAME} src/xml_converter.cpp)
+target_link_libraries(${TARGET_NAME} ${CORE_LIB})
+
+
 ### TESTS ######################################################################
-# Enable testing using CMake's built-in functionality
-enable_testing()
+set(TEST_TARGET_NAME test_xml_converter)
 
-set(TEST_TARGET_NAME xml_converter_tests)
+# Enable testing using CMake's built-in functionality to be able to run `make test`
+enable_testing()
 
-file(GLOB_RECURSE TEST_SOURCES "src/*.cpp")
-list(REMOVE_ITEM TEST_SOURCES "${CMAKE_CURRENT_SOURCE_DIR}/src/xml_converter.cpp")
+file(GLOB_RECURSE TEST_SOURCES "tests/*.cpp")
 
 find_package(GTest REQUIRED)
 
-add_executable(${TEST_TARGET_NAME} tests/test_string_hierarchy.cpp ${TEST_SOURCES} ${PROTO_SRC})
-
+add_executable(${TEST_TARGET_NAME} ${TEST_SOURCES})
 target_link_libraries(${TEST_TARGET_NAME} GTest::GTest GTest::Main)
-target_link_libraries(${TEST_TARGET_NAME} ${Protobuf_LIBRARIES})
+target_link_libraries(${TEST_TARGET_NAME} ${CORE_LIB})
 
 gtest_discover_tests(${TEST_TARGET_NAME})
diff --git a/xml_converter/tests/main_test.cpp b/xml_converter/tests/main_test.cpp
new file mode 100644
index 00000000..dc42b1a7
--- /dev/null
+++ b/xml_converter/tests/main_test.cpp
@@ -0,0 +1,6 @@
+#include "gtest/gtest.h"
+
+int main(int argc, char **argv) {
+    ::testing::InitGoogleTest(&argc, argv);
+    return RUN_ALL_TESTS();
+}
diff --git a/xml_converter/tests/test_string_hierarchy.cpp b/xml_converter/tests/test_string_hierarchy.cpp
index 4e2d84c8..5b09b71a 100644
--- a/xml_converter/tests/test_string_hierarchy.cpp
+++ b/xml_converter/tests/test_string_hierarchy.cpp
@@ -111,8 +111,3 @@ TEST_F(StringHierarchyTest, SubHierarchySingle) {
     EXPECT_TRUE(sub_hierarchy->in_hierarchy("child1"));
     EXPECT_TRUE(sub_hierarchy->in_hierarchy({"child1", "child2"}));
 }
-
-int main(int argc, char **argv) {
-    ::testing::InitGoogleTest(&argc, argv);
-    return RUN_ALL_TESTS();
-}
\ No newline at end of file