diff --git a/extras/library_generation/library_generation.sh b/extras/library_generation/library_generation.sh
index 630c493d6..136878b87 100755
--- a/extras/library_generation/library_generation.sh
+++ b/extras/library_generation/library_generation.sh
@@ -22,6 +22,7 @@ if [ $OPTIND -eq 1 ]; then
     PLATFORMS+=("portenta-m7")
     PLATFORMS+=("kakutef7-m7")
     PLATFORMS+=("esp32")
+    PLATFORMS+=("esp32_5_2_0")
 fi
 
 shift $((OPTIND-1))
@@ -239,7 +240,7 @@ fi
 if [[ " ${PLATFORMS[@]} " =~ " esp32 " ]]; then
     rm -rf firmware/build
 
-    export TOOLCHAIN_PREFIX=/uros_ws/xtensa-esp32-elf/bin/xtensa-esp32-elf-
+    export TOOLCHAIN_PREFIX=/uros_ws/xtensa-esp32-elf-gcc8_4_0-esp-2021r2/bin/xtensa-esp32-elf-
     ros2 run micro_ros_setup build_firmware.sh /project/extras/library_generation/esp32_toolchain.cmake /project/extras/library_generation/colcon.meta
 
     find firmware/build/include/ -name "*.c"  -delete
@@ -249,6 +250,20 @@ if [[ " ${PLATFORMS[@]} " =~ " esp32 " ]]; then
     cp -R firmware/build/libmicroros.a /project/src/esp32/libmicroros.a
 fi
 
+######## Build for ESP32 with toolchain v5.2.0  ########
+if [[ " ${PLATFORMS[@]} " =~ " esp32_5_2_0 " ]]; then
+    rm -rf firmware/build
+
+    export TOOLCHAIN_PREFIX=/uros_ws/xtensa-esp32-elf-linux64-1.22/bin/xtensa-esp32-elf-
+    ros2 run micro_ros_setup build_firmware.sh /project/extras/library_generation/esp32_toolchain.cmake /project/extras/library_generation/colcon.meta
+
+    find firmware/build/include/ -name "*.c"  -delete
+    cp -R firmware/build/include/* /project/src/
+
+    mkdir -p /project/src/esp32_5_2_0
+    cp -R firmware/build/libmicroros.a /project/src/esp32_5_2_0/libmicroros.a
+fi
+
 ######## Generate extra files ########
 find firmware/mcu_ws/ros2 \( -name "*.srv" -o -name "*.msg" -o -name "*.action" \) | awk -F"/" '{print $(NF-2)"/"$NF}' > /project/available_ros2_types
 find firmware/mcu_ws/extra_packages \( -name "*.srv" -o -name "*.msg" -o -name "*.action" \) | awk -F"/" '{print $(NF-2)"/"$NF}' >> /project/available_ros2_types
diff --git a/src/husarnet_transport.cpp b/src/husarnet_transport.cpp
new file mode 100644
index 000000000..53a70f18b
--- /dev/null
+++ b/src/husarnet_transport.cpp
@@ -0,0 +1,127 @@
+#if defined(ESP32) && defined(HUSARNET)
+#include <Arduino.h>
+#include <Husarnet.h>
+#include <HusarnetClient.h>
+#include <micro_ros_arduino.h>
+
+extern "C" {
+
+static HusarnetClient client;
+
+bool arduino_husarnet_transport_open(struct uxrCustomTransport *transport) {
+  struct micro_ros_agent_locator *locator =
+      (struct micro_ros_agent_locator *)transport->args;
+
+
+  /* Try to connect to a server on port 8888 on your laptop */
+  if (!client.connect(locator->hostname, locator->port)) {
+    return false;
+  }
+
+  return true;
+}
+
+bool arduino_husarnet_transport_close(struct uxrCustomTransport *transport) {
+  client.stop();
+  return true;
+}
+
+size_t arduino_husarnet_transport_write(struct uxrCustomTransport *transport,
+                                        const uint8_t *buf, size_t len,
+                                        uint8_t *errcode) {
+  (void)errcode;
+
+  // As we are using a TCP stream connection we should indicate the size of the message with the first two bytes of the stream.
+  static uint8_t buffer_size[2];
+  buffer_size[0] = (uint8_t)(0x00FF & len);
+  buffer_size[1] = (uint8_t)((0xFF00 & len) >> 8);
+  size_t sent = client.write(buffer_size, 2);
+
+  // Then we send the payload
+  if (sent == 2) {
+    sent = client.write(buf, len);
+  } else {
+    sent = 0;
+  }
+
+  return sent;
+}
+
+// Sample state machine for receiving data
+typedef enum {
+  STATE_WAIT_FOR_SIZE = 0,
+  STATE_WAIT_FOR_DATA,
+  STATE_MESSAGE_AVAILABLE
+} husarnet_tcp_states_t;
+
+typedef struct {
+  uint8_t buffer[UXR_CONFIG_CUSTOM_TRANSPORT_MTU];
+
+  uint8_t length_buffer[2];
+
+  uint16_t message_size;
+  uint16_t message_size_received;
+
+  husarnet_tcp_states_t state;
+} husarnet_tcp_receiver_t;
+
+static husarnet_tcp_receiver_t receiver = {};
+
+void read_tcp_data(husarnet_tcp_receiver_t & r) {
+  switch(r.state) {
+    case STATE_WAIT_FOR_SIZE:
+      if (client.available() >= 2)
+      {
+        client.read(r.length_buffer, 2);
+        r.message_size = (r.length_buffer[0] | (r.length_buffer[1] << 8));
+        r.message_size_received = 0;
+        r.state = STATE_WAIT_FOR_DATA;
+      }
+      break;
+    case STATE_WAIT_FOR_DATA:
+      if(client.available())
+      {
+        size_t to_read = (r.message_size - r.message_size_received) < client.available() ? r.message_size - r.message_size_received : client.available();
+        size_t readed = client.read(&r.buffer[r.message_size_received], to_read);
+        r.message_size_received += readed;
+        if(r.message_size_received == r.message_size){
+          r.state = STATE_MESSAGE_AVAILABLE;
+        }
+      }
+      break;
+    case STATE_MESSAGE_AVAILABLE:
+      break;
+  }
+}
+
+size_t arduino_husarnet_transport_read(struct uxrCustomTransport *transport,
+                                       uint8_t *buf, size_t len, int timeout,
+                                       uint8_t *errcode) {
+  (void)errcode;
+
+  client.setTimeout(timeout);
+
+  do
+  {
+    int64_t time_init = uxr_millis();
+    read_tcp_data(receiver);
+    timeout -= (int)(uxr_millis() - time_init);
+  }
+  while ((STATE_MESSAGE_AVAILABLE != receiver.state) && (0 < timeout));
+
+  if (STATE_MESSAGE_AVAILABLE == receiver.state)
+  {
+    size_t readed = receiver.message_size;
+    memcpy(buf, receiver.buffer, readed);
+    receiver.state = STATE_WAIT_FOR_SIZE;
+    return readed;
+  }
+  else
+  {
+    return 0;
+  }
+}
+
+}
+
+#endif
diff --git a/src/micro_ros_arduino.h b/src/micro_ros_arduino.h
index 189d9a0d6..396d5c165 100755
--- a/src/micro_ros_arduino.h
+++ b/src/micro_ros_arduino.h
@@ -3,33 +3,34 @@
 #define MICRO_ROS_ARDUINO
 
 // ---- Build fixes -----
-//Removing __attribute__ not supported by gcc-arm-none-eabi-5_4
+// Removing __attribute__ not supported by gcc-arm-none-eabi-5_4
 #define __attribute__(x)
 
 #ifdef ARDUINO_SAMD_ZERO
-// Avoid macro usage in https://github.com/eProsima/Micro-XRCE-DDS-Client/blob/66df0a6df20063d246dd638ac3d33eb2e652fab2/include/uxr/client/core/session/session.h#L97
-// beacuse of https://github.com/arduino/ArduinoCore-samd/blob/0b60a79c4b194ed2e76fead95caf1bbce8960049/cores/arduino/sync.h#L28
+// Avoid macro usage in
+// https://github.com/eProsima/Micro-XRCE-DDS-Client/blob/66df0a6df20063d246dd638ac3d33eb2e652fab2/include/uxr/client/core/session/session.h#L97
+// beacuse of
+// https://github.com/arduino/ArduinoCore-samd/blob/0b60a79c4b194ed2e76fead95caf1bbce8960049/cores/arduino/sync.h#L28
 #define synchronized synchronized
-#endif
+#endif  // ARDUINO_SAMD_ZERO
 // ----------------------
 
-#include <uxr/client/transport.h>
 #include <rmw_microros/rmw_microros.h>
+#include <uxr/client/transport.h>
 
-extern "C" bool arduino_transport_open(struct uxrCustomTransport * transport);
-extern "C" bool arduino_transport_close(struct uxrCustomTransport * transport);
-extern "C" size_t arduino_transport_write(struct uxrCustomTransport* transport, const uint8_t * buf, size_t len, uint8_t * err);
-extern "C" size_t arduino_transport_read(struct uxrCustomTransport* transport, uint8_t* buf, size_t len, int timeout, uint8_t* err);
-
-static inline void set_microros_transports(){
-	rmw_uros_set_custom_transport(
-		true,
-		NULL,
-		arduino_transport_open,
-		arduino_transport_close,
-		arduino_transport_write,
-		arduino_transport_read
-	);
+extern "C" bool arduino_transport_open(struct uxrCustomTransport* transport);
+extern "C" bool arduino_transport_close(struct uxrCustomTransport* transport);
+extern "C" size_t arduino_transport_write(struct uxrCustomTransport* transport,
+                                          const uint8_t* buf, size_t len,
+                                          uint8_t* err);
+extern "C" size_t arduino_transport_read(struct uxrCustomTransport* transport,
+                                         uint8_t* buf, size_t len, int timeout,
+                                         uint8_t* err);
+
+static inline void set_microros_transports() {
+  rmw_uros_set_custom_transport(
+      true, NULL, arduino_transport_open, arduino_transport_close,
+      arduino_transport_write, arduino_transport_read);
 }
 
 #if defined(TARGET_STM32F4)
@@ -38,50 +39,98 @@ static inline void set_microros_transports(){
 #include <EthernetUdp.h>
 #include <LwIP.h>
 #include <STM32Ethernet.h>
-
-#include <uxr/client/transport.h>
 #include <rmw_microros/rmw_microros.h>
+#include <uxr/client/transport.h>
+
 #include "IPAddress.h"
-#endif
+#endif  // defined(TARGET_STM32F4)
 
 #ifdef ARDUINO_TEENSY41
 #include <NativeEthernet.h>
-#endif
+#endif  // ARDUINO_TEENSY41
 
 #if defined(TARGET_STM32F4) || defined(ARDUINO_TEENSY41)
-extern "C" bool arduino_native_ethernet_udp_transport_open(struct uxrCustomTransport * transport);
-extern "C" bool arduino_native_ethernet_udp_transport_close(struct uxrCustomTransport * transport);
-extern "C" size_t arduino_native_ethernet_udp_transport_write(struct uxrCustomTransport* transport, const uint8_t * buf, size_t len, uint8_t * err);
-extern "C" size_t arduino_native_ethernet_udp_transport_read(struct uxrCustomTransport* transport, uint8_t* buf, size_t len, int timeout, uint8_t* err);
+extern "C" bool arduino_native_ethernet_udp_transport_open(
+    struct uxrCustomTransport* transport);
+extern "C" bool arduino_native_ethernet_udp_transport_close(
+    struct uxrCustomTransport* transport);
+extern "C" size_t arduino_native_ethernet_udp_transport_write(
+    struct uxrCustomTransport* transport, const uint8_t* buf, size_t len,
+    uint8_t* err);
+extern "C" size_t arduino_native_ethernet_udp_transport_read(
+    struct uxrCustomTransport* transport, uint8_t* buf, size_t len, int timeout,
+    uint8_t* err);
 
 struct micro_ros_agent_locator {
-	IPAddress address;
-	int port;
+  IPAddress address;
+  int port;
 };
 
-static inline void set_microros_native_ethernet_udp_transports(byte mac[], IPAddress client_ip, IPAddress agent_ip, uint16_t agent_port){
-
-	static struct micro_ros_agent_locator locator;
+static inline void set_microros_native_ethernet_udp_transports(
+    byte mac[], IPAddress client_ip, IPAddress agent_ip, uint16_t agent_port) {
+  static struct micro_ros_agent_locator locator;
 
-   	Ethernet.begin(mac, client_ip);
-	delay(1000);
+  Ethernet.begin(mac, client_ip);
+  delay(1000);
 
-	locator.address = agent_ip;
-	locator.port = agent_port;
+  locator.address = agent_ip;
+  locator.port = agent_port;
 
-	rmw_uros_set_custom_transport(
-		false,
-		(void *) &locator,
-		arduino_native_ethernet_udp_transport_open,
-		arduino_native_ethernet_udp_transport_close,
-		arduino_native_ethernet_udp_transport_write,
-		arduino_native_ethernet_udp_transport_read
-	);
+  rmw_uros_set_custom_transport(false, (void*)&locator,
+                                arduino_native_ethernet_udp_transport_open,
+                                arduino_native_ethernet_udp_transport_close,
+                                arduino_native_ethernet_udp_transport_write,
+                                arduino_native_ethernet_udp_transport_read);
 }
 
-#endif
+#endif  // defined(TARGET_STM32F4) || defined(ARDUINO_TEENSY41)
 
-#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_NANO_RP2040_CONNECT)
+#if defined(ESP32) && defined(HUSARNET)
+#include <Arduino.h>
+
+extern "C" bool arduino_husarnet_transport_open(
+    struct uxrCustomTransport* transport);
+extern "C" bool arduino_husarnet_transport_close(
+    struct uxrCustomTransport* transport);
+extern "C" size_t arduino_husarnet_transport_write(
+    struct uxrCustomTransport* transport, const uint8_t* buf, size_t len,
+    uint8_t* err);
+extern "C" size_t arduino_husarnet_transport_read(
+    struct uxrCustomTransport* transport, uint8_t* buf, size_t len, int timeout,
+    uint8_t* err);
+
+struct micro_ros_agent_locator {
+  char* hostname;
+  uint16_t port;
+  IPv6Address addr;
+};
+
+static inline void set_microros_husarnet_transports(char* agent_hostname,
+                                                    uint16_t agent_port) {
+  bool agentAvailable = 0;
+  static struct micro_ros_agent_locator locator;
+  locator.hostname = agent_hostname;
+  locator.port = agent_port;
+
+  while (false == agentAvailable) {
+    for (auto const& host : Husarnet.listPeers()) {
+      if (host.second == locator.hostname) {
+        locator.addr = host.first;
+        agentAvailable = true;
+        break;
+      }
+    }
+    delay(1);
+  }
+
+  rmw_uros_set_custom_transport(
+      false, (void*)&locator, arduino_husarnet_transport_open,
+      arduino_husarnet_transport_close, arduino_husarnet_transport_write,
+      arduino_husarnet_transport_read);
+}
+
+#elif defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || \
+    defined(ARDUINO_NANO_RP2040_CONNECT)
 
 #if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7)
 #include <WiFi.h>
@@ -89,40 +138,43 @@ static inline void set_microros_native_ethernet_udp_transports(byte mac[], IPAdd
 #elif defined(ARDUINO_NANO_RP2040_CONNECT)
 #include <SPI.h>
 #include <WiFiNINA.h>
-#endif
-
-extern "C" bool arduino_wifi_transport_open(struct uxrCustomTransport * transport);
-extern "C" bool arduino_wifi_transport_close(struct uxrCustomTransport * transport);
-extern "C" size_t arduino_wifi_transport_write(struct uxrCustomTransport* transport, const uint8_t * buf, size_t len, uint8_t * err);
-extern "C" size_t arduino_wifi_transport_read(struct uxrCustomTransport* transport, uint8_t* buf, size_t len, int timeout, uint8_t* err);
+#endif  // defined(ESP32) || defined(TARGET_PORTENTA_H7_M7)
+
+extern "C" bool arduino_wifi_transport_open(
+    struct uxrCustomTransport* transport);
+extern "C" bool arduino_wifi_transport_close(
+    struct uxrCustomTransport* transport);
+extern "C" size_t arduino_wifi_transport_write(
+    struct uxrCustomTransport* transport, const uint8_t* buf, size_t len,
+    uint8_t* err);
+extern "C" size_t arduino_wifi_transport_read(
+    struct uxrCustomTransport* transport, uint8_t* buf, size_t len, int timeout,
+    uint8_t* err);
 
 struct micro_ros_agent_locator {
-	IPAddress address;
-	int port;
+  IPAddress address;
+  int port;
 };
 
-static inline void set_microros_wifi_transports(char * ssid, char * pass, char * agent_ip, uint agent_port){
+static inline void set_microros_wifi_transports(char* ssid, char* pass,
+                                                char* agent_ip,
+                                                uint agent_port) {
+  WiFi.begin(ssid, pass);
 
-	WiFi.begin(ssid, pass);
+  while (WiFi.status() != WL_CONNECTED) {
+    delay(500);
+  }
 
-    while (WiFi.status() != WL_CONNECTED) {
-      delay(500);
-    }
+  static struct micro_ros_agent_locator locator;
+  locator.address.fromString(agent_ip);
+  locator.port = agent_port;
 
-	static struct micro_ros_agent_locator locator;
-	locator.address.fromString(agent_ip);
-	locator.port = agent_port;
-
-	rmw_uros_set_custom_transport(
-		false,
-		(void *) &locator,
-		arduino_wifi_transport_open,
-		arduino_wifi_transport_close,
-		arduino_wifi_transport_write,
-		arduino_wifi_transport_read
-	);
+  rmw_uros_set_custom_transport(
+      false, (void*)&locator, arduino_wifi_transport_open,
+      arduino_wifi_transport_close, arduino_wifi_transport_write,
+      arduino_wifi_transport_read);
 }
 
-#endif
+#endif  // defined(ESP32) && defined(HUSARNET)
 
 #endif  // MICRO_ROS_ARDUINO
diff --git a/src/wifi_transport.cpp b/src/wifi_transport.cpp
index 7c7d9c42c..729c239d3 100755
--- a/src/wifi_transport.cpp
+++ b/src/wifi_transport.cpp
@@ -1,4 +1,4 @@
-#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_NANO_RP2040_CONNECT)
+#if !defined(HUSARNET) && defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_NANO_RP2040_CONNECT)
 
 #include <Arduino.h>