diff --git a/config/custom/esp32_config.h b/config/custom/esp32_config.h
index e0b1aeb7..c242c2a7 100644
--- a/config/custom/esp32_config.h
+++ b/config/custom/esp32_config.h
@@ -178,24 +178,24 @@ ROBOT ORIENTATION
   #define PWM_MIN -PWM_MAX
 #endif
 
-// #define USE_WIFI_TRANSPORT  // use micro ros wifi transport
-#define AGENT_IP { 192, 168, 1, 100 }  // eg IP of the desktop computer
+#define USE_WIFI_TRANSPORT  // use micro ros wifi transport
+#define AGENT_IP { 10, 4, 0, 10 }  // eg IP of the desktop computer
 #define AGENT_PORT 8888
 // Enable WiFi with null terminated list of multiple APs SSID and password
-// #define WIFI_AP_LIST {{"WIFI_SSID", "WIFI_PASSWORD"}, {NULL}}
+#define WIFI_AP_LIST {{"BAOBAO", "big00rat"}, {NULL}}
 #define WIFI_MONITOR 2 // min. period to send wifi signal strength to syslog
-// #define USE_ARDUINO_OTA
-// #define USE_SYSLOG
-#define SYSLOG_SERVER { 192, 168, 1, 100 }  // eg IP of the desktop computer
+#define USE_ARDUINO_OTA
+#define USE_SYSLOG
+#define SYSLOG_SERVER { 10, 4, 0, 10 }  // eg IP of the desktop computer
 #define SYSLOG_PORT 514
 #define DEVICE_HOSTNAME "esp32"
 #define APP_NAME "hardware"
-// #define USE_LIDAR_UDP
+#define USE_LIDAR_UDP
 #define LIDAR_RXD 14
 // #define LIDAR_PWM 15
 #define LIDAR_SERIAL 1 // uart number
 #define LIDAR_BAUDRATE 230400
-#define LIDAR_SERVER { 192, 168, 1, 100 }  // eg IP of the desktop computer
+#define LIDAR_SERVER { 10, 4, 0, 10 }  // eg IP of the desktop computer
 #define LIDAR_PORT 8889
 #define BAUDRATE 115200
 // #define SDA_PIN 21 // specify I2C pins
diff --git a/firmware/platformio.ini b/firmware/platformio.ini
index aa319334..f515c9b6 100644
--- a/firmware/platformio.ini
+++ b/firmware/platformio.ini
@@ -68,11 +68,11 @@ board_build.f_flash = 80000000L
 board_build.flash_mode = qio
 board_build.partitions = min_spiffs.csv
 monitor_speed = 115200
-upload_port = /dev/ttyUSB0
-upload_protocol = esptool
-; upload_protocol = espota
-; upload_port = 192.168.1.101
-; board_microros_transport = wifi
+; upload_port = /dev/ttyUSB0
+; upload_protocol = esptool
+upload_protocol = espota
+upload_port = 10.4.1.182
+board_microros_transport = wifi
 ; board_microros_distro = humble
 lib_deps =
     ${env.lib_deps}