diff --git a/apps/ping_pong/app.c b/apps/ping_pong/app.c
index ba6cd6bf..97dc8b64 100644
--- a/apps/ping_pong/app.c
+++ b/apps/ping_pong/app.c
@@ -80,6 +80,16 @@ void pong_subscription_callback(const void * msgin)
 
 void appMain(void *argument)
 {
+
+#if defined(CONFIG_ESP_WIFI_AP)
+	volatile bool *is_sta = (volatile bool *) argument;
+	// Wait for a connection to the wifi AP. The first to connect 
+	// is considered the agent
+	while (! *is_sta) {
+		usleep(100000);
+	}
+#endif // if defined(CONFIG_ESP_WIFI_AP)
+
 	rcl_allocator_t allocator = rcl_get_default_allocator();
 	rclc_support_t support;
 
diff --git a/microros_esp32_extensions/main/Kconfig.projbuild b/microros_esp32_extensions/main/Kconfig.projbuild
index 06226d68..2e67b7df 100644
--- a/microros_esp32_extensions/main/Kconfig.projbuild
+++ b/microros_esp32_extensions/main/Kconfig.projbuild
@@ -34,6 +34,12 @@ endmenu
 
 menu "WiFi Configuration"
 
+    config ESP_WIFI_AP
+        bool "Wifi act as Access point"
+        default false
+        help
+	  The ESP32 is acting as an access point 
+
     config ESP_WIFI_SSID
         string "WiFi SSID"
         default "myssid"
@@ -46,6 +52,12 @@ menu "WiFi Configuration"
         help
             WiFi password (WPA or WPA2) for the example to use.
 
+    config ESP_WIFI_CHANNEL
+        int "Wifi channel 1 to 13"
+	range 1 11
+        default 8
+        help
+
     config ESP_MAXIMUM_RETRY
         int "Maximum retry"
         default 5
diff --git a/microros_esp32_extensions/main/main.c b/microros_esp32_extensions/main/main.c
index 830c3e32..b1b77a1d 100644
--- a/microros_esp32_extensions/main/main.c
+++ b/microros_esp32_extensions/main/main.c
@@ -24,6 +24,8 @@
 #define ESP_WIFI_SSID      CONFIG_ESP_WIFI_SSID
 #define ESP_WIFI_PASS      CONFIG_ESP_WIFI_PASSWORD
 #define ESP_MAXIMUM_RETRY  CONFIG_ESP_MAXIMUM_RETRY
+#define ESP_WIFI_CHANNEL   CONFIG_ESP_WIFI_CHANNEL
+#define ESP_MAX_STA_CONN   4
 
 static EventGroupHandle_t s_wifi_event_group;
 
@@ -33,9 +35,26 @@ static EventGroupHandle_t s_wifi_event_group;
 static const char *TAG = "wifi station";
 static int s_retry_num = 0;
 
+
+#if defined(CONFIG_ESP_WIFI_AP)
+volatile bool is_sta = false;
+#endif // defined(CONFIG_ESP_WIFI_AP)
+
 static void event_handler(void* arg, esp_event_base_t event_base,
                                 int32_t event_id, void* event_data)
 {
+#if defined(CONFIG_ESP_WIFI_AP)
+    if (event_id == WIFI_EVENT_AP_STACONNECTED) {
+        wifi_event_ap_staconnected_t* event = (wifi_event_ap_staconnected_t*) event_data;
+        ESP_LOGI(TAG, "station "MACSTR" join, AID=%d",
+                 MAC2STR(event->mac), event->aid);
+	is_sta = true;
+    } else if (event_id == WIFI_EVENT_AP_STADISCONNECTED) {
+        wifi_event_ap_stadisconnected_t* event = (wifi_event_ap_stadisconnected_t*) event_data;
+        ESP_LOGI(TAG, "station "MACSTR" leave, AID=%d",
+                 MAC2STR(event->mac), event->aid);
+    }
+#else // defined(CONFIG_ESP_WIFI_AP)
     if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_START) {
         esp_wifi_connect();
     } else if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_DISCONNECTED) {
@@ -54,8 +73,49 @@ static void event_handler(void* arg, esp_event_base_t event_base,
         s_retry_num = 0;
         xEventGroupSetBits(s_wifi_event_group, WIFI_CONNECTED_BIT);
     }
+#endif // defined(CONFIG_ESP_WIFI_AP)
+}
+
+#if defined(CONFIG_ESP_WIFI_AP)
+void wifi_init_softap(void)
+{
+
+    ESP_ERROR_CHECK(esp_netif_init());
+    ESP_ERROR_CHECK(esp_event_loop_create_default());
+    esp_netif_create_default_wifi_ap();
+
+    wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
+    ESP_ERROR_CHECK(esp_wifi_init(&cfg));
+
+    ESP_ERROR_CHECK(esp_event_handler_register(WIFI_EVENT,
+			    ESP_EVENT_ANY_ID,
+			    &event_handler,
+			    NULL));
+
+    wifi_config_t wifi_config = {
+        .ap = {
+            .ssid = ESP_WIFI_SSID,
+            .ssid_len = strlen(ESP_WIFI_SSID),
+            .channel = ESP_WIFI_CHANNEL,
+            .password = ESP_WIFI_PASS,
+            .max_connection = ESP_MAX_STA_CONN,
+            .authmode = WIFI_AUTH_WPA_WPA2_PSK
+        },
+    };
+    if (strlen(ESP_WIFI_PASS) == 0) {
+        wifi_config.ap.authmode = WIFI_AUTH_OPEN;
+    }
+
+    ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_AP));
+    ESP_ERROR_CHECK(esp_wifi_set_config(WIFI_IF_AP, &wifi_config));
+    ESP_ERROR_CHECK(esp_wifi_start());
+
+    ESP_LOGI(TAG, "wifi_init_softap finished. SSID:%s password:%s channel:%d",
+             ESP_WIFI_SSID, ESP_WIFI_PASS, ESP_WIFI_CHANNEL);
 }
+#endif // defined(CONFIG_ESP_WIFI_AP)
 
+#if !defined(CONFIG_ESP_WIFI_AP)
 void wifi_init_sta()
 {
     s_wifi_event_group = xEventGroupCreate();
@@ -104,6 +164,7 @@ void wifi_init_sta()
     ESP_ERROR_CHECK(esp_event_handler_unregister(WIFI_EVENT, ESP_EVENT_ANY_ID, &event_handler));
     vEventGroupDelete(s_wifi_event_group);
 }
+#endif // !defined(CONFIG_ESP_WIFI_AP)
 
 static size_t uart_no = UART_NUM_0;
 
@@ -119,8 +180,13 @@ void app_main(void)
     }
     ESP_ERROR_CHECK(ret);
 
+#if defined(CONFIG_ESP_WIFI_AP)
+    ESP_LOGW(TAG, "ESP_WIFI_MODE_AP");
+    wifi_init_softap();
+#else // defined(CONFIG_ESP_WIFI_AP)
     ESP_LOGI(TAG, "ESP_WIFI_MODE_STA");
     wifi_init_sta();
+#endif // defined(CONFIG_ESP_WIFI_AP)
 #elif defined(RMW_UXRCE_TRANSPORT_CUSTOM)
     rmw_uros_set_custom_transport(  
         true,  
@@ -131,6 +197,10 @@ void app_main(void)
         esp32_serial_read);  
 #endif
 
+#if defined(CONFIG_ESP_WIFI_AP)
     // start microROS task
+    xTaskCreate(appMain, "uros_task", 12*2048, &is_sta, 5, NULL);
+#else // defined(CONFIG_ESP_WIFI_AP)
     xTaskCreate(appMain, "uros_task", 12*2048, NULL, 5, NULL);
+#endif // defined(CONFIG_ESP_WIFI_AP)
 }