diff --git a/include/rtps/config_esp32.h b/include/rtps/config_esp32.h
new file mode 100644
index 0000000..25a964e
--- /dev/null
+++ b/include/rtps/config_esp32.h
@@ -0,0 +1,105 @@
+/*
+The MIT License
+Copyright (c) 2019 Lehrstuhl Informatik 11 - RWTH Aachen University
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE
+
+This file is part of embeddedRTPS.
+
+Author: i11 - Embedded Software, RWTH Aachen University
+*/
+
+#ifndef RTPS_CONFIG_H
+#define RTPS_CONFIG_H
+
+#include "rtps/common/types.h"
+
+namespace rtps {
+
+#define IS_LITTLE_ENDIAN 1
+
+// define only if using FreeRTOS
+#define OS_IS_FREERTOS
+#define PLATFORM_ESP32 1
+
+namespace Config {
+const VendorId_t VENDOR_ID = {13, 37};
+const std::array<uint8_t, 4> IP_ADDRESS = {
+    192, 168, 4, 1}; // Needs to be set in lwipcfg.h too.
+const GuidPrefix_t BASE_GUID_PREFIX = GUID_RANDOM;
+
+const uint8_t DOMAIN_ID = 0; // 230 possible with UDP
+const uint8_t NUM_STATELESS_WRITERS = 4;
+const uint8_t NUM_STATELESS_READERS = 4;
+const uint8_t NUM_STATEFUL_WRITERS = 4;
+const uint8_t NUM_STATEFUL_READERS = 4;
+const uint8_t MAX_NUM_PARTICIPANTS = 1;
+const uint8_t NUM_WRITERS_PER_PARTICIPANT = MAX_NUM_PARTICIPANTS * (NUM_STATELESS_WRITERS + NUM_STATEFUL_WRITERS);
+const uint8_t NUM_READERS_PER_PARTICIPANT = MAX_NUM_PARTICIPANTS * (NUM_STATELESS_READERS + NUM_STATEFUL_READERS);
+const uint8_t NUM_WRITER_PROXIES_PER_READER = 1;
+const uint8_t NUM_READER_PROXIES_PER_WRITER = 1;
+
+const uint8_t MAX_NUM_UNMATCHED_REMOTE_WRITERS = 15;
+const uint8_t MAX_NUM_UNMATCHED_REMOTE_READERS = 15;
+    
+const uint8_t MAX_NUM_READER_CALLBACKS = NUM_READERS_PER_PARTICIPANT;
+
+
+const uint8_t HISTORY_SIZE_STATELESS = 2;
+const uint8_t HISTORY_SIZE_STATEFUL = 10;
+
+const uint8_t MAX_TYPENAME_LENGTH = 32;
+const uint8_t MAX_TOPICNAME_LENGTH = 32;
+
+const int HEARTBEAT_STACKSIZE = 4000;          // byte
+const int THREAD_POOL_WRITER_STACKSIZE = 4000; // byte
+const int THREAD_POOL_READER_STACKSIZE = 4000; // byte
+const uint16_t SPDP_WRITER_STACKSIZE = 4000;    // byte
+
+const uint16_t SF_WRITER_HB_PERIOD_MS = 4000;
+const uint16_t SPDP_RESEND_PERIOD_MS = 1000;
+const uint8_t SPDP_CYCLECOUNT_HEARTBEAT =
+    2; // skip x SPDP rounds before checking liveliness
+const uint8_t SPDP_WRITER_PRIO = 24;
+const uint8_t SPDP_MAX_NUMBER_FOUND_PARTICIPANTS = 10;
+const uint8_t SPDP_MAX_NUM_LOCATORS = 1;
+const Duration_t SPDP_DEFAULT_REMOTE_LEASE_DURATION = {
+    5, 0}; // Default lease duration for remote participants, usually
+             // overwritten by remote info
+const Duration_t SPDP_MAX_REMOTE_LEASE_DURATION = {
+    180,
+    0}; // Absolute maximum lease duration, ignoring remote participant info
+
+const Duration_t SPDP_LEASE_DURATION = {5, 0};
+
+const int MAX_NUM_UDP_CONNECTIONS = 10;
+
+const int THREAD_POOL_NUM_WRITERS = 1;
+const int THREAD_POOL_NUM_READERS = 1;
+const int THREAD_POOL_WRITER_PRIO = 24;
+const int THREAD_POOL_READER_PRIO = 24;
+const int THREAD_POOL_WORKLOAD_QUEUE_LENGTH_USERTRAFFIC = 60;
+const int THREAD_POOL_WORKLOAD_QUEUE_LENGTH_METATRAFFIC = 60;
+
+constexpr int OVERALL_HEAP_SIZE =
+    THREAD_POOL_NUM_WRITERS * THREAD_POOL_WRITER_STACKSIZE +
+    THREAD_POOL_NUM_READERS * THREAD_POOL_READER_STACKSIZE +
+    MAX_NUM_PARTICIPANTS * SPDP_WRITER_STACKSIZE +
+    NUM_STATEFUL_WRITERS * HEARTBEAT_STACKSIZE;
+} // namespace Config
+} // namespace rtps
+
+#endif // RTPS_CONFIG_H
diff --git a/src/communication/UdpDriver.cpp b/src/communication/UdpDriver.cpp
index 32c2452..15294e6 100644
--- a/src/communication/UdpDriver.cpp
+++ b/src/communication/UdpDriver.cpp
@@ -30,6 +30,10 @@ Author: i11 - Embedded Software, RWTH Aachen University
 #include <lwip/igmp.h>
 #include <lwip/tcpip.h>
 
+#if PLATFORM_ESP32
+#include <string.h>
+#endif
+
 using rtps::UdpDriver;
 
 #if UDP_DRIVER_VERBOSE && RTPS_GLOBAL_VERBOSE
@@ -83,8 +87,13 @@ UdpDriver::createUdpConnection(Ip4Port_t receivePort) {
 }
 
 bool UdpDriver::isSameSubnet(ip4_addr_t addr) {
+#if PLATFORM_ESP32
+  return (ip4_addr_netcmp(&addr, &(netif_default->ip_addr.u_addr.ip4),
+                          &(netif_default->netmask.u_addr.ip4)) != 0);
+#else
   return (ip4_addr_netcmp(&addr, &(netif_default->ip_addr),
                           &(netif_default->netmask)) != 0);
+#endif
 }
 
 bool UdpDriver::isMulticastAddress(ip4_addr_t addr) {
@@ -100,7 +109,11 @@ bool UdpDriver::joinMultiCastGroup(ip4_addr_t addr) const {
 
   {
     TcpipCoreLock lock;
+#if PLATFORM_ESP32
+    iret = igmp_joingroup(ip_2_ip4(IP_ADDR_ANY), (&addr));
+#else
     iret = igmp_joingroup(IP_ADDR_ANY, (&addr));
+#endif
   }
 
   if (iret != ERR_OK) {
@@ -122,7 +135,14 @@ bool UdpDriver::sendPacket(const UdpConnection &conn, ip4_addr_t &destAddr,
   err_t err;
   {
     TcpipCoreLock lock;
+#if PLATFORM_ESP32
+    ip_addr_t tmpAddr;
+    memcpy((char *)&tmpAddr.u_addr.ip4, (char *)&destAddr.addr, sizeof(ip4_addr));
+    tmpAddr.type = IPADDR_TYPE_V4;
+    err = udp_sendto(conn.pcb, &buffer, &tmpAddr, destPort);
+#else
     err = udp_sendto(conn.pcb, &buffer, &destAddr, destPort);
+#endif
   }
 
   if (err != ERR_OK) {
diff --git a/src/entities/Domain.cpp b/src/entities/Domain.cpp
index feeb4bf..11bce93 100644
--- a/src/entities/Domain.cpp
+++ b/src/entities/Domain.cpp
@@ -505,7 +505,11 @@ rtps::GuidPrefix_t Domain::generateGuidPrefix(ParticipantId_t id) const {
   if (Config::BASE_GUID_PREFIX == GUID_RANDOM) {
     for (unsigned int i = 0; i < rtps::Config::BASE_GUID_PREFIX.id.size();
          i++) {
+#if PLATFORM_ESP32
+      prefix.id[i] = esp_random();
+#else
       prefix.id[i] = rand();
+#endif
     }
   } else {
     for (unsigned int i = 0; i < rtps::Config::BASE_GUID_PREFIX.id.size();