diff --git a/esp32_toolchain.cmake.in b/esp32_toolchain.cmake.in
index 5bc33a7c..24680b85 100644
--- a/esp32_toolchain.cmake.in
+++ b/esp32_toolchain.cmake.in
@@ -15,6 +15,11 @@ else()
     set(FLAGS "-mlongcalls -ffunction-sections -fdata-sections" CACHE STRING "" FORCE)
 endif()
 
+include("@BUILD_CONFIG_DIR@/sdkconfig.cmake" OPTIONAL)
+if(CONFIG_LIBC_PICOLIBC)
+    set(FLAGS "${FLAGS} --specs=picolibc.specs" CACHE STRING "" FORCE)
+endif()
+
 set(CMAKE_CROSSCOMPILING 1)
 set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
 set(PLATFORM_NAME "LwIP")
@@ -26,10 +31,11 @@ set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
 set(CMAKE_C_COMPILER @CMAKE_C_COMPILER@)
 set(CMAKE_CXX_COMPILER @CMAKE_CXX_COMPILER@)
 
-set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${FLAGS} ${IDF_INCLUDES}")
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fno-exceptions -fno-rtti ${FLAGS} ${IDF_INCLUDES}")
+set(CMAKE_C_FLAGS "${FLAGS} ${IDF_INCLUDES}" CACHE STRING "" FORCE)
+set(CMAKE_CXX_FLAGS "-fno-exceptions -fno-rtti ${FLAGS} ${IDF_INCLUDES}" CACHE STRING "" FORCE)
 
-add_compile_definitions(ESP_PLATFORM LWIP_IPV4 LWIP_IPV6 PLATFORM_NAME_FREERTOS)
+# Workaround for https://github.com/ros2/rcutils/issues/552
+add_compile_definitions(ESP_PLATFORM LWIP_IPV4 LWIP_IPV6 PLATFORM_NAME_FREERTOS __STDC_WANT_LIB_EXT1__=1)
 
 include_directories(
         "@BUILD_CONFIG_DIR@"
diff --git a/network_interfaces/uros_wlan_netif.c b/network_interfaces/uros_wlan_netif.c
index b2a8460a..f2f5a35d 100644
--- a/network_interfaces/uros_wlan_netif.c
+++ b/network_interfaces/uros_wlan_netif.c
@@ -85,7 +85,11 @@ static void wifi_init_sta(void)
         },
     };
     ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_STA) );
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(6, 0, 0)
+    ESP_ERROR_CHECK(esp_wifi_set_config(WIFI_IF_STA, &wifi_config) );
+#else
     ESP_ERROR_CHECK(esp_wifi_set_config(ESP_IF_WIFI_STA, &wifi_config) );
+#endif
     ESP_ERROR_CHECK(esp_wifi_start() );
 
     ESP_LOGI(TAG, "wifi_init_sta finished.");