micro-ROS · Narukara · Jun 24, 2026
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -23,8 +23,11 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        idf_target: [esp32, esp32s2, esp32s3, esp32c3, esp32c6]
+        idf_target: [esp32, esp32s2, esp32s3, esp32c3, esp32c6, esp32p4]
         idf_version: [v5.2, v5.3, v5.4, v5.5]
+        exclude:
+          - idf_target: esp32p4
+            idf_version: v5.2
 
     container:
       image: "espressif/idf:release-${{ matrix.idf_version }}"
@@ -59,7 +62,7 @@ jobs:
 
       - name: Build sample - low_consumption
         shell: bash
-        if: matrix.idf_target != 'esp32c3' && matrix.idf_target != 'esp32s3' && matrix.idf_target != 'esp32c6'
+        if: matrix.idf_target != 'esp32c3' && matrix.idf_target != 'esp32s3' && matrix.idf_target != 'esp32c6' && matrix.idf_target != 'esp32p4'
         run: |
           . $IDF_PATH/export.sh
           cd micro_ros_espidf_component/examples/low_consumption

diff --git a/Kconfig.projbuild b/Kconfig.projbuild
@@ -71,13 +71,13 @@ menu "Ethernet Configuration"
 
     choice MICRO_ROS_ETHERNET_TYPE
         prompt "Ethernet Type"
-        default MICRO_ROS_USE_INTERNAL_ETHERNET if IDF_TARGET_ESP32
+        default MICRO_ROS_USE_INTERNAL_ETHERNET if IDF_TARGET_ESP32 || IDF_TARGET_ESP32P4
         default MICRO_ROS_USE_W5500
         help
             Select which kind of Ethernet will be used in the example.
 
         config MICRO_ROS_USE_INTERNAL_ETHERNET
-            depends on IDF_TARGET_ESP32
+            depends on IDF_TARGET_ESP32 || IDF_TARGET_ESP32P4
             select ETH_USE_ESP32_EMAC
             bool "Internal EMAC"
             help
@@ -140,12 +140,14 @@ menu "Ethernet Configuration"
 
         config MICRO_ROS_ETH_MDC_GPIO
             int "SMI MDC GPIO number"
+            default 31 if IDF_TARGET_ESP32P4
             default 23
             help
                 Set the GPIO number used by SMI MDC.
 
         config MICRO_ROS_ETH_MDIO_GPIO
             int "SMI MDIO GPIO number"
+            default 52 if IDF_TARGET_ESP32P4
             default 18
             help
                 Set the GPIO number used by SMI MDIO.
@@ -203,6 +205,7 @@ menu "Ethernet Configuration"
 
     config MICRO_ROS_ETH_PHY_RST_GPIO
         int "PHY Reset GPIO number"
+        default 51 if IDF_TARGET_ESP32P4
         default 5
         help
             Set the GPIO number used to reset PHY chip.

diff --git 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, and v5.5 with ESP32, ESP32-S2, ESP32-S3, ESP32-C3, ESP32-C6, and ESP32-P4.
 
 ## Dependencies
 
@@ -40,7 +40,7 @@ In order to test a int32_publisher example:
 ```bash
 . $IDF_PATH/export.sh
 cd examples/int32_publisher
-# Set target board [esp32|esp32s2|esp32s3|esp32c3|esp32c6]
+# Set target board [esp32|esp32s2|esp32s3|esp32c3|esp32c6|esp32p4]
 idf.py set-target esp32
 idf.py menuconfig
 # Set your micro-ROS configuration and WiFi credentials under micro-ROS Settings
@@ -76,7 +76,7 @@ cd micro_ros_espidf_component/
 pip install catkin_pkg colcon-common-extensions lark
 
 cd examples/int32_publisher
-# Set target board [esp32|esp32s2|esp32s3|esp32c3|esp32c6]
+# Set target board [esp32|esp32s2|esp32s3|esp32c3|esp32c6|esp32p4]
 idf.py set-target esp32
 idf.py menuconfig
 # Set your micro-ROS configuration and WiFi credentials under micro-ROS Settings

diff --git a/esp32_toolchain.cmake.in b/esp32_toolchain.cmake.in
@@ -5,11 +5,18 @@ set(CMAKE_SYSTEM_NAME Generic)
 set(idf_target "@IDF_TARGET@")
 set(idf_path "@IDF_PATH@")
 
-set(RISCV_TARGETS "esp32c3" "esp32c6")
+set(RISCV_TARGETS "esp32c3" "esp32c6" "esp32p4")
+set(RISCV_HARD_FLOAT_TARGETS "esp32p4")
 
 if("${idf_target}" IN_LIST RISCV_TARGETS)
     set(CMAKE_SYSTEM_PROCESSOR riscv)
-    set(FLAGS "-ffunction-sections -fdata-sections" CACHE STRING "" FORCE)
+    if("${idf_target}" IN_LIST RISCV_HARD_FLOAT_TARGETS)
+        # ESP32-P4 uses hardware floating point
+        set(FLAGS "-march=rv32imafc -mabi=ilp32f -ffunction-sections -fdata-sections" CACHE STRING "" FORCE)
+    else()
+        # ESP32-C3/C6 use soft-float
+        set(FLAGS "-ffunction-sections -fdata-sections" CACHE STRING "" FORCE)
+    endif()
 else()
     set(CMAKE_SYSTEM_PROCESSOR xtensa)
     set(FLAGS "-mlongcalls -ffunction-sections -fdata-sections" CACHE STRING "" FORCE)
@@ -35,3 +42,9 @@ include_directories(
         "@BUILD_CONFIG_DIR@"
         ${idf_path}/components/soc/${idf_target}/include
     )
+
+if("${idf_target}" IN_LIST RISCV_TARGETS)
+    include_directories(
+        ${idf_path}/components/riscv/include
+    )
+endif()
diff --git a/examples/addtwoints_server/.gitignore b/examples/addtwoints_server/.gitignore
@@ -1,3 +1,5 @@
 build
+managed_components
+dependencies.lock
 sdkconfig
 sdkconfig.old
diff --git a/examples/handle_static_types/.gitignore b/examples/handle_static_types/.gitignore
@@ -1,3 +1,5 @@
 build
+managed_components
+dependencies.lock
 sdkconfig
 sdkconfig.old
diff --git a/examples/int32_publisher/.gitignore b/examples/int32_publisher/.gitignore
@@ -1,3 +1,5 @@
 build
+managed_components
+dependencies.lock
 sdkconfig
 sdkconfig.old
diff --git a/examples/int32_publisher_custom_transport/.gitignore b/examples/int32_publisher_custom_transport/.gitignore
@@ -1,3 +1,5 @@
 build
+managed_components
+dependencies.lock
 sdkconfig
 sdkconfig.old
diff --git a/examples/int32_publisher_embeddedrtps/.gitignore b/examples/int32_publisher_embeddedrtps/.gitignore
@@ -1,3 +1,5 @@
 build
+managed_components
+dependencies.lock
 sdkconfig
 sdkconfig.old
diff --git a/examples/int32_sub_pub/.gitignore b/examples/int32_sub_pub/.gitignore
@@ -1,3 +1,5 @@
 build
+managed_components
+dependencies.lock
 sdkconfig
 sdkconfig.old
diff --git a/examples/low_consumption/.gitignore b/examples/low_consumption/.gitignore
@@ -1,3 +1,5 @@
 build
+managed_components
+dependencies.lock
 sdkconfig
 sdkconfig.old
diff --git a/examples/multithread_publisher/.gitignore b/examples/multithread_publisher/.gitignore
@@ -1,3 +1,5 @@
 build
+managed_components
+dependencies.lock
 sdkconfig
 sdkconfig.old
diff --git a/examples/parameters/.gitignore b/examples/parameters/.gitignore
@@ -1,3 +1,5 @@
 build
+managed_components
+dependencies.lock
 sdkconfig
 sdkconfig.old
diff --git a/examples/ping_pong/.gitignore b/examples/ping_pong/.gitignore
@@ -1,3 +1,5 @@
 build
+managed_components
+dependencies.lock
 sdkconfig
 sdkconfig.old
diff --git a/idf_component.yml b/idf_component.yml
@@ -0,0 +1,9 @@
+dependencies:
+  espressif/esp_wifi_remote:
+    version: ">=0.10,<2.0"
+    rules:
+      - if: "target in [esp32p4]"
+  espressif/esp_hosted:
+    version: "~2"
+    rules:
+      - if: "target in [esp32p4]"