diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 035942bc..0b95c279 100755
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -24,7 +24,7 @@ jobs:
       fail-fast: false
       matrix:
         idf_target: [esp32, esp32s2, esp32s3, esp32c3, esp32c6]
-        idf_version: [v5.2, v5.3, v5.4, v5.5]
+        idf_version: [v5.2, v5.3, v5.4, v5.5, v6.0]
 
     container:
       image: "espressif/idf:release-${{ matrix.idf_version }}"
diff --git a/README.md b/README.md
index a7a50a0f..1b1eedc3 100644
--- a/README.md
+++ b/README.md
@@ -7,7 +7,7 @@
 
 # micro-ROS component for ESP-IDF
 
-This component has been tested in ESP-IDF v5.2, v5.3, v5.4, and v5.5 with ESP32, ESP32-S2, ESP32-S3, ESP32-C3 and ESP32-C6.
+This component has been tested in ESP-IDF v5.2, v5.3, v5.4, v5.5, and v6.0 with ESP32, ESP32-S2, ESP32-S3, ESP32-C3 and ESP32-C6.
 
 ## Dependencies
 
@@ -67,7 +67,7 @@ docker run -it --rm --net=host microros/micro-ros-agent:rolling udp4 --port 8888
 It's possible to build this example application using the official Espressif [docker images](https://hub.docker.com/r/espressif/idf), following the same steps:
 
 ```bash
-docker run --name micro-ros-espidf-component -it espressif/idf:release-v5.5 bash
+docker run --name micro-ros-espidf-component -it espressif/idf:release-v6.0 bash
 
 git clone -b rolling https://github.com/micro-ROS/micro_ros_espidf_component.git
 cd micro_ros_espidf_component/
diff --git a/esp32_toolchain.cmake.in b/esp32_toolchain.cmake.in
index 5bc33a7c..d07e11db 100644
--- a/esp32_toolchain.cmake.in
+++ b/esp32_toolchain.cmake.in
@@ -15,6 +15,11 @@ else()
     set(FLAGS "-mlongcalls -ffunction-sections -fdata-sections" CACHE STRING "" FORCE)
 endif()
 
+include("@BUILD_CONFIG_DIR@/sdkconfig.cmake" OPTIONAL)
+if(CONFIG_LIBC_PICOLIBC)
+    set(FLAGS "${FLAGS} --specs=picolibc.specs" CACHE STRING "" FORCE)
+endif()
+
 set(CMAKE_CROSSCOMPILING 1)
 set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
 set(PLATFORM_NAME "LwIP")
@@ -26,10 +31,14 @@ set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
 set(CMAKE_C_COMPILER @CMAKE_C_COMPILER@)
 set(CMAKE_CXX_COMPILER @CMAKE_CXX_COMPILER@)
 
-set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${FLAGS} ${IDF_INCLUDES}")
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fno-exceptions -fno-rtti ${FLAGS} ${IDF_INCLUDES}")
+if(NOT MICROROS_TOOLCHAIN_FLAGS_APPLIED)
+    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${FLAGS} ${IDF_INCLUDES}" CACHE STRING "" FORCE)
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fno-exceptions -fno-rtti ${FLAGS} ${IDF_INCLUDES}" CACHE STRING "" FORCE)
+    set(MICROROS_TOOLCHAIN_FLAGS_APPLIED TRUE CACHE INTERNAL "micro-ROS toolchain flags were applied")
+endif()
 
-add_compile_definitions(ESP_PLATFORM LWIP_IPV4 LWIP_IPV6 PLATFORM_NAME_FREERTOS)
+# Keep `__STDC_WANT_LIB_EXT1__=1` until micro-ROS/rcutils includes ros2/rcutils#555.
+add_compile_definitions(ESP_PLATFORM LWIP_IPV4 LWIP_IPV6 PLATFORM_NAME_FREERTOS __STDC_WANT_LIB_EXT1__=1)
 
 include_directories(
         "@BUILD_CONFIG_DIR@"
diff --git a/examples/int32_publisher_custom_transport_usbcdc/components/esp_usbcdc_logging/idf_component.yml b/examples/int32_publisher_custom_transport_usbcdc/components/esp_usbcdc_logging/idf_component.yml
index 9e845ef0..50d19734 100644
--- a/examples/int32_publisher_custom_transport_usbcdc/components/esp_usbcdc_logging/idf_component.yml
+++ b/examples/int32_publisher_custom_transport_usbcdc/components/esp_usbcdc_logging/idf_component.yml
@@ -1,6 +1,10 @@
 ## IDF Component Manager Manifest File
 dependencies:
   espressif/esp_tinyusb: "^1.4.4"
+  espressif/usb:
+    version: "*"
+    rules:
+      - if: "idf_version >=6.0.0"
   ## Required IDF version
   idf:
     version: ">=5.0"
diff --git a/examples/int32_publisher_custom_transport_usbcdc/components/esp_usbcdc_transport/idf_component.yml b/examples/int32_publisher_custom_transport_usbcdc/components/esp_usbcdc_transport/idf_component.yml
index 9e845ef0..50d19734 100644
--- a/examples/int32_publisher_custom_transport_usbcdc/components/esp_usbcdc_transport/idf_component.yml
+++ b/examples/int32_publisher_custom_transport_usbcdc/components/esp_usbcdc_transport/idf_component.yml
@@ -1,6 +1,10 @@
 ## IDF Component Manager Manifest File
 dependencies:
   espressif/esp_tinyusb: "^1.4.4"
+  espressif/usb:
+    version: "*"
+    rules:
+      - if: "idf_version >=6.0.0"
   ## Required IDF version
   idf:
     version: ">=5.0"
diff --git a/network_interfaces/uros_wlan_netif.c b/network_interfaces/uros_wlan_netif.c
index b2a8460a..f2f5a35d 100644
--- a/network_interfaces/uros_wlan_netif.c
+++ b/network_interfaces/uros_wlan_netif.c
@@ -85,7 +85,11 @@ static void wifi_init_sta(void)
         },
     };
     ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_STA) );
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(6, 0, 0)
+    ESP_ERROR_CHECK(esp_wifi_set_config(WIFI_IF_STA, &wifi_config) );
+#else
     ESP_ERROR_CHECK(esp_wifi_set_config(ESP_IF_WIFI_STA, &wifi_config) );
+#endif
     ESP_ERROR_CHECK(esp_wifi_start() );
 
     ESP_LOGI(TAG, "wifi_init_sta finished.");