diff --git a/examples/ESP32/.gitignore b/examples/ESP32/.gitignore
new file mode 100644
index 00000000..89cc49cb
--- /dev/null
+++ b/examples/ESP32/.gitignore
@@ -0,0 +1,5 @@
+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch
diff --git a/examples/ESP32/.vscode/extensions.json b/examples/ESP32/.vscode/extensions.json
new file mode 100644
index 00000000..080e70d0
--- /dev/null
+++ b/examples/ESP32/.vscode/extensions.json
@@ -0,0 +1,10 @@
+{
+    // See http://go.microsoft.com/fwlink/?LinkId=827846
+    // for the documentation about the extensions.json format
+    "recommendations": [
+        "platformio.platformio-ide"
+    ],
+    "unwantedRecommendations": [
+        "ms-vscode.cpptools-extension-pack"
+    ]
+}
diff --git a/examples/ESP32/include/README b/examples/ESP32/include/README
new file mode 100644
index 00000000..194dcd43
--- /dev/null
+++ b/examples/ESP32/include/README
@@ -0,0 +1,39 @@
+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the usual convention is to give header files names that end with `.h'.
+It is most portable to use only letters, digits, dashes, and underscores in
+header file names, and at most one dot.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html
diff --git a/examples/ESP32/lib/README b/examples/ESP32/lib/README
new file mode 100644
index 00000000..6debab1e
--- /dev/null
+++ b/examples/ESP32/lib/README
@@ -0,0 +1,46 @@
+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into executable file.
+
+The source code of each library should be placed in a an own separate directory
+("lib/your_library_name/[here are source files]").
+
+For example, see a structure of the following two libraries `Foo` and `Bar`:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+|  |
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |
+|  |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+   |- main.c
+
+and a contents of `src/main.c`:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+  ...
+}
+
+```
+
+PlatformIO Library Dependency Finder will find automatically dependent
+libraries scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html
diff --git a/examples/ESP32/platformio.ini b/examples/ESP32/platformio.ini
new file mode 100644
index 00000000..c25268f0
--- /dev/null
+++ b/examples/ESP32/platformio.ini
@@ -0,0 +1,19 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[env:esp32dev]
+platform = espressif32
+board = esp32dev
+framework = arduino
+monitor_speed  = 115200
+microros_transport = serial
+microros_distro = galactic
+lib_deps =
+    https://github.com/micro-ROS/micro_ros_platformio
\ No newline at end of file
diff --git a/examples/ESP32/src/main.cpp b/examples/ESP32/src/main.cpp
new file mode 100644
index 00000000..e8e6e7b7
--- /dev/null
+++ b/examples/ESP32/src/main.cpp
@@ -0,0 +1,12 @@
+#include <Arduino.h>
+
+void setup() {
+  // put your setup code here, to run once:
+  Serial.begin(115200);
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  Serial.println("Hello world");
+  delay(1000);
+}
\ No newline at end of file
diff --git a/examples/ESP32/test/README b/examples/ESP32/test/README
new file mode 100644
index 00000000..b94d0890
--- /dev/null
+++ b/examples/ESP32/test/README
@@ -0,0 +1,11 @@
+
+This directory is intended for PlatformIO Unit Testing and project tests.
+
+Unit Testing is a software testing method by which individual units of
+source code, sets of one or more MCU program modules together with associated
+control data, usage procedures, and operating procedures, are tested to
+determine whether they are fit for use. Unit testing finds problems early
+in the development cycle.
+
+More information about PlatformIO Unit Testing:
+- https://docs.platformio.org/page/plus/unit-testing.html