diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 3ce82a1cf..99e2e3694 100755
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -42,6 +42,7 @@ jobs:
             arduino-cli core install arduino:mbed_giga -v
             arduino-cli core install arduino:mbed_rp2040 -v
             arduino-cli core install arduino:mbed_portenta -v
+            arduino-cli core install arduino:mbed_opta -v
             arduino-cli core install arduino:renesas_uno -v
             arduino-cli core install arduino:mbed_nano -v
             arduino-cli core install esp32:esp32 -v
@@ -92,6 +93,10 @@ jobs:
             arduino-cli compile --fqbn arduino:renesas_uno:minima /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
             arduino-cli compile --fqbn arduino:renesas_uno:unor4wifi /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
             arduino-cli compile --fqbn arduino:renesas_uno:unor4wifi /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
+            arduino-cli compile --fqbn arduino:mbed_opta:opta /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
+            arduino-cli compile --fqbn arduino:mbed_opta:opta /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
+            arduino-cli compile --fqbn arduino:mbed_opta:opta /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_ethernet -v
+
             # Build micro-ros_publisher-wifi_at for WiFi non-native board with ESP-AT
             arduino-cli compile --fqbn arduino:mbed_rp2040:pico /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi_at -v
 
diff --git a/README.md b/README.md
index 755b3af83..ec9a3823e 100755
--- a/README.md
+++ b/README.md
@@ -51,6 +51,7 @@ Community contributed boards are:
 | [Arduino Giga R1](https://store.arduino.cc/products/giga-r1-wifi)                        | -           | [@gbr1](https://github.com/gbr1)                       |                                                                           | `colcon.meta`            |
 | [Arduino UNO R4 WiFi](https://store.arduino.cc/products/uno-r4-wifi)                     | -           | [@gbr1](https://github.com/gbr1)                       |                                                                           | `colcon.meta`            |
 | [Arduino UNO R4 Minima](https://store.arduino.cc/products/uno-r4-minima)                 | -           | [@gbr1](https://github.com/gbr1)                       |                                                                           | `colcon.meta`            |
+| [Arduino Opta](https://store.arduino.cc/products/opta-wifi)                 | -           | [@gbr1](https://github.com/gbr1)                       |                                                                           | `colcon.meta`            |
 
 
 You can find the available precompiled ROS 2 types for messages and services in [available_ros2_types](available_ros2_types).
diff --git a/examples/micro-ros_publisher_ethernet/micro-ros_publisher_ethernet.ino b/examples/micro-ros_publisher_ethernet/micro-ros_publisher_ethernet.ino
index 77f8a56e2..f00445f4d 100755
--- a/examples/micro-ros_publisher_ethernet/micro-ros_publisher_ethernet.ino
+++ b/examples/micro-ros_publisher_ethernet/micro-ros_publisher_ethernet.ino
@@ -7,8 +7,8 @@
 #include <rclc/executor.h>
 #include <std_msgs/msg/int32.h>
 
-#if !defined(TARGET_STM32F4) && !defined(ARDUINO_TEENSY41) && !defined(TARGET_PORTENTA_H7_M7)
-#error This example is only available for Arduino Portenta, Arduino Teensy41 and STM32F4
+#if !defined(TARGET_STM32F4) && !defined(ARDUINO_TEENSY41) && !defined(TARGET_PORTENTA_H7_M7) && !defined(ARDUINO_OPTA)
+#error This example is only available for Arduino Portenta, Arduino Teensy41, STM32F4 and Arduino OPTA
 #endif
 
 #if defined(ARDUINO_TEENSY41)
diff --git a/examples/micro-ros_publisher_wifi/micro-ros_publisher_wifi.ino b/examples/micro-ros_publisher_wifi/micro-ros_publisher_wifi.ino
index 79e2fb447..725399c77 100755
--- a/examples/micro-ros_publisher_wifi/micro-ros_publisher_wifi.ino
+++ b/examples/micro-ros_publisher_wifi/micro-ros_publisher_wifi.ino
@@ -8,8 +8,8 @@
 
 #include <std_msgs/msg/int32.h>
 
-#if !defined(ESP32) && !defined(TARGET_PORTENTA_H7_M7) && !defined(ARDUINO_GIGA) && !defined(ARDUINO_NANO_RP2040_CONNECT) && !defined(ARDUINO_WIO_TERMINAL) && !defined(ARDUINO_UNOR4_WIFI)
-#error This example is only available for Arduino Portenta, Arduino Giga R1, Arduino Nano RP2040 Connect, ESP32 Dev module, Wio Terminal and Arduino Uno R4 WiFi
+#if !defined(ESP32) && !defined(TARGET_PORTENTA_H7_M7) && !defined(ARDUINO_GIGA) && !defined(ARDUINO_NANO_RP2040_CONNECT) && !defined(ARDUINO_WIO_TERMINAL) && !defined(ARDUINO_UNOR4_WIFI) && !defined(ARDUINO_OPTA)
+#error This example is only available for Arduino Portenta, Arduino Giga R1, Arduino Nano RP2040 Connect, ESP32 Dev module, Wio Terminal, Arduino Uno R4 WiFi and Arduino OPTA WiFi 
 #endif
 
 rcl_publisher_t publisher;
diff --git a/library.properties b/library.properties
index ddb8026e1..b81d8351d 100755
--- a/library.properties
+++ b/library.properties
@@ -7,4 +7,4 @@ paragraph=micro-ROS Arduino library
 url=https://github.com/micro-ROS/micro_ros_arduino
 precompiled=true
 category=Other
-architectures=stm32,OpenCR,Teensyduino,samd,sam,mbed,esp32,mbed_portenta,mbed_giga,renesas_uno
+architectures=stm32,OpenCR,Teensyduino,samd,sam,mbed,esp32,mbed_portenta,mbed_giga,renesas_uno,mbed_opta
diff --git a/src/micro_ros_arduino.h b/src/micro_ros_arduino.h
index 5a86897dc..9b0fd0d36 100755
--- a/src/micro_ros_arduino.h
+++ b/src/micro_ros_arduino.h
@@ -56,11 +56,11 @@ static inline void set_microros_transports(){
 #include <NativeEthernet.h>
 #endif
 
-#if defined(TARGET_PORTENTA_H7_M7)
+#if defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_OPTA)
 #include <PortentaEthernet.h>
 #endif
 
-#if defined(TARGET_STM32F4) || defined(ARDUINO_TEENSY41)  || defined(TARGET_PORTENTA_H7_M7)
+#if defined(TARGET_STM32F4) || defined(ARDUINO_TEENSY41)  || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_OPTA)
 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);
@@ -95,9 +95,9 @@ static inline void set_microros_native_ethernet_udp_transports(byte mac[], IPAdd
 
 #endif
 
-#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_GIGA) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL) || defined(BOARD_WITH_ESP_AT) || defined(ARDUINO_UNOR4_WIFI)
+#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_GIGA) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL) || defined(BOARD_WITH_ESP_AT) || defined(ARDUINO_UNOR4_WIFI) || defined(ARDUINO_OPTA)
 
-#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_GIGA)
+#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_GIGA) || defined(ARDUINO_OPTA)
 #include <WiFi.h>
 #include <WiFiUdp.h>
 #elif defined(ARDUINO_NANO_RP2040_CONNECT)
@@ -116,7 +116,7 @@ extern "C" bool arduino_wifi_transport_open(struct uxrCustomTransport * transpor
 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);
-#ifndef TARGET_PORTENTA_H7_M7
+#if !defined(TARGET_PORTENTA_H7_M7) && !defined(ARDUINO_OPTA)
 struct micro_ros_agent_locator {
 	IPAddress address;
 	int port;
diff --git a/src/native_ethernet_transport.cpp b/src/native_ethernet_transport.cpp
index ecc2cf096..ab3a953b8 100755
--- a/src/native_ethernet_transport.cpp
+++ b/src/native_ethernet_transport.cpp
@@ -10,13 +10,13 @@
 #include <NativeEthernet.h>
 #include <micro_ros_arduino.h>
 #endif
-#ifdef TARGET_PORTENTA_H7_M7
+#if defined(TARGET_PORTENTA_H7_M7 ) || defined(ARDUINO_OPTA)
 #include <Arduino.h>
 #include <EthernetUdp.h>
 #include <micro_ros_arduino.h>
 #endif
 
-#if defined(TARGET_STM32F4) || defined(ARDUINO_TEENSY41) || defined(TARGET_PORTENTA_H7_M7)
+#if defined(TARGET_STM32F4) || defined(ARDUINO_TEENSY41) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_OPTA)
 extern "C" {
 
 #include <stdbool.h>
diff --git a/src/wifi_transport.cpp b/src/wifi_transport.cpp
index c86bc9592..800de60f2 100755
--- a/src/wifi_transport.cpp
+++ b/src/wifi_transport.cpp
@@ -1,8 +1,8 @@
-#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_GIGA) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL) || defined(BOARD_WITH_ESP_AT) || defined(ARDUINO_UNOR4_WIFI)
+#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_GIGA) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL) || defined(BOARD_WITH_ESP_AT) || defined(ARDUINO_UNOR4_WIFI) || defined(ARDUINO_OPTA)
 #include <Arduino.h>
 
 
-#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_GIGA)
+#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_GIGA) || defined(ARDUINO_OPTA)
 #include <WiFi.h>
 #include <WiFiUdp.h>
 #elif defined(ARDUINO_NANO_RP2040_CONNECT)