diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 3d3ff9fc..74bb8a41 100755
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -80,6 +80,15 @@ jobs:
           idf.py set-target ${{ matrix.idf_target }}
           idf.py build
 
+      - name: Build sample - int32_publisher_custom_transport_usbcdc
+        shell: bash
+        if: (matrix.idf_target == 'esp32s2' || matrix.idf_target == 'esp32s3') && matrix.idf_version == 'espressif/idf:release-v5.2'
+        run: |
+          . $IDF_PATH/export.sh
+          cd micro_ros_espidf_component/examples/int32_publisher_custom_transport_usbcdc
+          idf.py set-target ${{ matrix.idf_target }}
+          idf.py build
+
       - name: Build sample - multithread_publisher
         shell: bash
         run: |
diff --git a/examples/int32_publisher_custom_transport_usbcdc/.gitignore b/examples/int32_publisher_custom_transport_usbcdc/.gitignore
new file mode 100644
index 00000000..e9fcd3f8
--- /dev/null
+++ b/examples/int32_publisher_custom_transport_usbcdc/.gitignore
@@ -0,0 +1,5 @@
+build
+sdkconfig
+sdkconfig.old
+managed_components
+.vscode
\ No newline at end of file
diff --git a/examples/int32_publisher_custom_transport_usbcdc/CMakeLists.txt b/examples/int32_publisher_custom_transport_usbcdc/CMakeLists.txt
new file mode 100644
index 00000000..b416a561
--- /dev/null
+++ b/examples/int32_publisher_custom_transport_usbcdc/CMakeLists.txt
@@ -0,0 +1,7 @@
+cmake_minimum_required(VERSION 3.5)
+
+set (EXTRA_COMPONENT_DIRS "./../../.")
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+project(int32_publisher)
+
diff --git a/examples/int32_publisher_custom_transport_usbcdc/README.md b/examples/int32_publisher_custom_transport_usbcdc/README.md
new file mode 100644
index 00000000..7536afa5
--- /dev/null
+++ b/examples/int32_publisher_custom_transport_usbcdc/README.md
@@ -0,0 +1,138 @@
+
+# USB-CDC Custom Transport Example
+
+| Supported Targets | ESP32-S2 | ESP32-S3 |
+|-------------------|----------|----------|
+
+This example demonstrates how to set up the ESP32-S2/S3 to function as a USB Serial Device (CDC-ACM) and communicate with micro-ROS agent using USB-CDC custom transport.
+
+The [TinyUSB component](https://components.espressif.com/components/espressif/esp_tinyusb) is used as the USB stack.
+
+This example is based on the [int32_publisher_custom_transport](https://github.com/micro-ROS/micro_ros_espidf_component/tree/jazzy/examples/int32_publisher_custom_transport), the [TinyUSB Serial Device Example](https://github.com/espressif/esp-idf/tree/master/examples/peripherals/usb/device/tusb_serial_device), and the [TinyUSB Console Example](https://github.com/espressif/esp-idf/tree/master/examples/peripherals/usb/device/tusb_console) for log output.
+
+## How to use example
+
+This example is configured to use the two interfaces of USB-CDC. One interface is used for the micro-ROS communication, and the other interface is used for the log output.
+
+### Hardware Required
+
+This example can be run on any development board that has a USB-CDC interface.
+
+### Configure the project
+
+Set the target device in the project configuration:
+
+```bash
+idf.py set-target esp32s2 # or esp32s3
+```
+
+If you want to use only the micro-ROS communication interface, you need to turn off log output in menuconfig. Run `idf.py menuconfig` and navigate to `Component config → Log output → Default log verbosity` and set it to `No output`. You should also set `Component config → TinyUSB Stack → Communication Device Class (CDC) → CDC Channel Count` to 1.
+
+### Build and Flash
+
+> [!NOTE]
+> The ESP32-S2/S3 chip needs to be in bootloader mode before it can be detected as a DFU device and flash. This can be achieved by pulling GPIO0 down (e.g., pressing the BOOT button), pulling RESET down for a moment, and releasing GPIO0.
+
+#### Build the project
+
+Build DFU image:
+
+```bash
+idf.py dfu
+```
+
+#### Flash the project
+
+Put the ESP32-S2/S3 into bootloader mode and run the following command:
+
+```bash
+idf.py dfu-flash
+```
+
+### Run micro-ROS Agent
+
+```bash
+export ROS_DOMAIN_ID=100 # Set the ROS2 domain ID
+ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyACM0
+```
+
+Output expected:
+
+```bash
+[1724443525.673894] info     | TermiosAgentLinux.cpp | init                     | running...             | fd: 3
+[1724443525.674071] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 4
+[1724443529.936542] info     | TermiosAgentLinux.cpp | init                     | running...             | fd: 3
+[1724443531.062646] info     | Root.cpp           | create_client            | create                 | client_key: 0x3E801A05, session_id: 0x81
+[1724443531.062805] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x3E801A05, address: 0
+[1724443531.107532] info     | ProxyClient.cpp    | create_participant       | participant created    | client_key: 0x3E801A05, participant_id: 0x000(1)
+[1724443531.137064] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x3E801A05, topic_id: 0x000(2), participant_id: 0x000(1)
+[1724443531.167351] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x3E801A05, publisher_id: 0x000(3), participant_id: 0x000(1)
+[1724443531.237811] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x3E801A05, datawriter_id: 0x000(5), publisher_id: 0x000(3)
+```
+
+After connecting the ESP32-S2/S3 and the micro-ROS agent, you can list the topics:
+
+```bash
+export ROS_DOMAIN_ID=100 # Set the ROS2 domain ID
+ros2 topic list
+```
+
+Output expected:
+
+```bash
+/esp32s2/int32_publisher_usbcdc
+/parameter_events
+/rosout
+```
+
+And see if the `esp32s2/int32_publisher_usbcdc` topic is available. You can echo the topic to see the messages:
+
+```bash
+export ROS_DOMAIN_ID=100 # Set the ROS2 domain ID
+ros2 topic echo esp32s2/int32_publisher_usbcdc
+```
+
+Output expected:
+
+```bash
+data: 1
+---
+data: 2
+---
+data: 3
+---
+data: 4
+---
+data: 5
+.
+.
+.
+```
+
+To see the log output, you can use the following command:
+
+```bash
+minicom -D /dev/ttyACM1 -b 115200
+```
+
+Output expected:
+
+```bash
+Welcome to minicom 2.8
+
+OPTIONS: I18n
+Port /dev/ttyACM1
+Press CTRL-A Z for help on special keys
+
+I (2688) MAIN: micro-ROS task created
+I (2688) main_task: Returned from app_main()
+I (3708) TIMER_CALLBACK: Message published: 0
+I (4708) TIMER_CALLBACK: Message published: 1
+I (5708) TIMER_CALLBACK: Message published: 2
+I (6708) TIMER_CALLBACK: Message published: 3
+I (7708) TIMER_CALLBACK: Message published: 4
+I (8708) TIMER_CALLBACK: Message published: 5
+.
+.
+.
+```
diff --git a/examples/int32_publisher_custom_transport_usbcdc/app-colcon.meta b/examples/int32_publisher_custom_transport_usbcdc/app-colcon.meta
new file mode 100644
index 00000000..906210cc
--- /dev/null
+++ b/examples/int32_publisher_custom_transport_usbcdc/app-colcon.meta
@@ -0,0 +1,9 @@
+{
+    "names": {
+        "rmw_microxrcedds": {
+            "cmake-args": [
+                "-DRMW_UXRCE_TRANSPORT=custom"
+            ]
+        }
+    }
+}
diff --git a/examples/int32_publisher_custom_transport_usbcdc/components/esp32s2_usbcdc_logging/CMakeLists.txt b/examples/int32_publisher_custom_transport_usbcdc/components/esp32s2_usbcdc_logging/CMakeLists.txt
new file mode 100644
index 00000000..5d7b73a2
--- /dev/null
+++ b/examples/int32_publisher_custom_transport_usbcdc/components/esp32s2_usbcdc_logging/CMakeLists.txt
@@ -0,0 +1 @@
+idf_component_register(SRCS "esp32s2_usbcdc_logging.c" INCLUDE_DIRS ".")
diff --git a/examples/int32_publisher_custom_transport_usbcdc/components/esp32s2_usbcdc_logging/esp32s2_usbcdc_logging.c b/examples/int32_publisher_custom_transport_usbcdc/components/esp32s2_usbcdc_logging/esp32s2_usbcdc_logging.c
new file mode 100644
index 00000000..f0c0c7de
--- /dev/null
+++ b/examples/int32_publisher_custom_transport_usbcdc/components/esp32s2_usbcdc_logging/esp32s2_usbcdc_logging.c
@@ -0,0 +1,46 @@
+#include "esp32s2_usbcdc_logging.h"
+
+// Initialize USB-CDC logging
+esp_err_t esp32s2_usbcdc_logging_init(void)
+{
+    const tinyusb_config_t tinyusb_config = {
+        .descriptor = NULL,
+        .string_descriptor = NULL,
+        .external_phy = false,
+        .configuration_descriptor = NULL,
+    };
+
+    esp_err_t ret = tinyusb_driver_install(&tinyusb_config);
+
+    if (ret == ESP_ERR_INVALID_ARG || ret == ESP_FAIL) {
+        return ret;
+    }
+
+    tinyusb_config_cdcacm_t acm_config = {
+        .usb_dev = TINYUSB_USBDEV_0,
+        .cdc_port = TINYUSB_CDC_ACM_1,
+        .rx_unread_buf_sz = CONFIG_TINYUSB_CDC_RX_BUFSIZE,
+        .callback_rx = NULL,
+        .callback_rx_wanted_char = NULL,
+        .callback_line_state_changed = NULL,
+        .callback_line_coding_changed = NULL,
+    };
+
+    ret = tusb_cdc_acm_init(&acm_config);
+
+    if (ret != ESP_OK) {
+        return ret;
+    }
+
+    ret = esp_tusb_init_console(TINYUSB_CDC_ACM_1);
+
+    return ret;
+}
+
+// Deinitialize USB-CDC logging
+esp_err_t esp32s2_usbcdc_logging_deinit(void)
+{
+    esp_err_t ret = esp_tusb_deinit_console(TINYUSB_CDC_ACM_1);
+
+    return ret;
+}
diff --git a/examples/int32_publisher_custom_transport_usbcdc/components/esp32s2_usbcdc_logging/esp32s2_usbcdc_logging.h b/examples/int32_publisher_custom_transport_usbcdc/components/esp32s2_usbcdc_logging/esp32s2_usbcdc_logging.h
new file mode 100644
index 00000000..ba8193da
--- /dev/null
+++ b/examples/int32_publisher_custom_transport_usbcdc/components/esp32s2_usbcdc_logging/esp32s2_usbcdc_logging.h
@@ -0,0 +1,32 @@
+#ifndef ESP32S2_USBCDC_LOGGING_H
+#define ESP32S2_USBCDC_LOGGING_H
+
+#include "esp_err.h"
+#include "tinyusb.h"
+#include "tusb_cdc_acm.h"
+#include "tusb_console.h"
+#include "sdkconfig.h"
+
+#if (CONFIG_TINYUSB_CDC_COUNT < 2) 
+    #warning "Define CONFIG_TINYUSB_CDC_COUNT to 2 in menuconfig if you want log over USBCDC. Otherwise, disable log output in menuconfig."
+#endif
+
+#if defined(CONFIG_IDF_TARGET_ESP32S2) || defined(CONFIG_IDF_TARGET_ESP32S3)
+
+#ifdef __cplusplus
+extern "C" 
+{
+#endif
+
+esp_err_t esp32s2_usbcdc_logging_init(void);
+esp_err_t esp32s2_usbcdc_logging_deinit(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#else
+#error "Logging over USB-CDC is only supported on ESP32-S2 or ESP32-S3 targets"
+#endif
+
+#endif // ESP32S2_USBCDC_LOGGING_H
diff --git a/examples/int32_publisher_custom_transport_usbcdc/components/esp32s2_usbcdc_logging/idf_component.yml b/examples/int32_publisher_custom_transport_usbcdc/components/esp32s2_usbcdc_logging/idf_component.yml
new file mode 100644
index 00000000..9e845ef0
--- /dev/null
+++ b/examples/int32_publisher_custom_transport_usbcdc/components/esp32s2_usbcdc_logging/idf_component.yml
@@ -0,0 +1,6 @@
+## IDF Component Manager Manifest File
+dependencies:
+  espressif/esp_tinyusb: "^1.4.4"
+  ## Required IDF version
+  idf:
+    version: ">=5.0"
diff --git a/examples/int32_publisher_custom_transport_usbcdc/components/esp32s2_usbcdc_transport/CMakeLists.txt b/examples/int32_publisher_custom_transport_usbcdc/components/esp32s2_usbcdc_transport/CMakeLists.txt
new file mode 100644
index 00000000..256799bb
--- /dev/null
+++ b/examples/int32_publisher_custom_transport_usbcdc/components/esp32s2_usbcdc_transport/CMakeLists.txt
@@ -0,0 +1,4 @@
+idf_component_register(SRCS "esp32s2_usbcdc_transport.c"
+    INCLUDE_DIRS "."
+    REQUIRES micro_ros_espidf_component # include <uxr/client/transport.h>
+)
diff --git a/examples/int32_publisher_custom_transport_usbcdc/components/esp32s2_usbcdc_transport/esp32s2_usbcdc_transport.c b/examples/int32_publisher_custom_transport_usbcdc/components/esp32s2_usbcdc_transport/esp32s2_usbcdc_transport.c
new file mode 100644
index 00000000..7bde70d7
--- /dev/null
+++ b/examples/int32_publisher_custom_transport_usbcdc/components/esp32s2_usbcdc_transport/esp32s2_usbcdc_transport.c
@@ -0,0 +1,57 @@
+#include "esp32s2_usbcdc_transport.h"
+
+// Open USB-CDC
+bool esp32s2_usbcdc_open(struct uxrCustomTransport* transport) {
+    const tinyusb_config_t tinyusb_config = {
+        .device_descriptor = NULL,
+        .string_descriptor = NULL,
+        .external_phy = false,
+        .configuration_descriptor = NULL,
+    };
+
+    esp_err_t ret = tinyusb_driver_install(&tinyusb_config);
+
+    if (ret == ESP_ERR_INVALID_ARG || ret == ESP_FAIL) {
+        return ret;
+    }
+
+    tinyusb_cdcacm_itf_t* cdc_port = (tinyusb_cdcacm_itf_t*)transport->args;
+
+    tinyusb_config_cdcacm_t acm_cfg = {
+        .usb_dev = TINYUSB_USBDEV_0,
+        .cdc_port = *cdc_port,
+        .rx_unread_buf_sz = CONFIG_TINYUSB_CDC_RX_BUFSIZE,
+        .callback_rx = NULL,
+        .callback_rx_wanted_char = NULL,
+        .callback_line_state_changed = NULL,
+        .callback_line_coding_changed = NULL
+    };
+
+    if (tusb_cdc_acm_init(&acm_cfg) != ESP_OK) {
+        return false;
+    }
+
+    return true;
+}
+
+// Close USB-CDC
+bool esp32s2_usbcdc_close(struct uxrCustomTransport* transport) {
+    tinyusb_cdcacm_itf_t* cdc_port = (tinyusb_cdcacm_itf_t*)transport->args;
+    return (tusb_cdc_acm_deinit(*cdc_port) == ESP_OK) ? true : false;
+}
+
+// Write to USB-CDC
+size_t esp32s2_usbcdc_write(struct uxrCustomTransport* transport, const uint8_t* buf, size_t len, uint8_t* err) {
+    tinyusb_cdcacm_itf_t* cdc_port = (tinyusb_cdcacm_itf_t*)transport->args;
+    size_t tx_size = tinyusb_cdcacm_write_queue(*cdc_port, buf, len);
+    tinyusb_cdcacm_write_flush(*cdc_port, 0);
+    return tx_size;
+}
+
+// Read from USB-CDC
+size_t esp32s2_usbcdc_read(struct uxrCustomTransport* transport, uint8_t* buf, size_t len, int timeout, uint8_t* err) {
+    tinyusb_cdcacm_itf_t* cdc_port = (tinyusb_cdcacm_itf_t*)transport->args;
+    size_t rx_size = 0;
+    esp_err_t ret = tinyusb_cdcacm_read(*cdc_port, buf, len, &rx_size);
+    return (ret == ESP_OK) ? rx_size : 0;
+}
\ No newline at end of file
diff --git a/examples/int32_publisher_custom_transport_usbcdc/components/esp32s2_usbcdc_transport/esp32s2_usbcdc_transport.h b/examples/int32_publisher_custom_transport_usbcdc/components/esp32s2_usbcdc_transport/esp32s2_usbcdc_transport.h
new file mode 100644
index 00000000..eb20a202
--- /dev/null
+++ b/examples/int32_publisher_custom_transport_usbcdc/components/esp32s2_usbcdc_transport/esp32s2_usbcdc_transport.h
@@ -0,0 +1,29 @@
+#ifndef ESP32S2_USBCDC_TRANSPORT_H
+#define ESP32S2_USBCDC_TRANSPORT_H
+
+#include <uxr/client/transport.h>
+
+#include "tinyusb.h"
+#include "tusb_cdc_acm.h"
+
+#if defined(CONFIG_IDF_TARGET_ESP32S2) || defined(CONFIG_IDF_TARGET_ESP32S3)
+
+#ifdef __cplusplus
+extern "C" 
+{
+#endif
+
+bool esp32s2_usbcdc_open(struct uxrCustomTransport* transport);
+bool esp32s2_usbcdc_close(struct uxrCustomTransport* transport);
+size_t esp32s2_usbcdc_write(struct uxrCustomTransport* transport, const uint8_t* buf, size_t len, uint8_t* err);
+size_t esp32s2_usbcdc_read(struct uxrCustomTransport* transport, uint8_t* buf, size_t len, int timeout, uint8_t* err);
+
+#ifdef __cplusplus
+}
+#endif
+
+#else
+#error "This transport is only supported on ESP32-S2 or ESP32-S3 targets"
+#endif // CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3
+
+#endif // ESP32S2_USBCDC_TRANSPORT_H
\ No newline at end of file
diff --git a/examples/int32_publisher_custom_transport_usbcdc/components/esp32s2_usbcdc_transport/idf_component.yml b/examples/int32_publisher_custom_transport_usbcdc/components/esp32s2_usbcdc_transport/idf_component.yml
new file mode 100644
index 00000000..9e845ef0
--- /dev/null
+++ b/examples/int32_publisher_custom_transport_usbcdc/components/esp32s2_usbcdc_transport/idf_component.yml
@@ -0,0 +1,6 @@
+## IDF Component Manager Manifest File
+dependencies:
+  espressif/esp_tinyusb: "^1.4.4"
+  ## Required IDF version
+  idf:
+    version: ">=5.0"
diff --git a/examples/int32_publisher_custom_transport_usbcdc/dependencies.lock b/examples/int32_publisher_custom_transport_usbcdc/dependencies.lock
new file mode 100644
index 00000000..d0d9ab49
--- /dev/null
+++ b/examples/int32_publisher_custom_transport_usbcdc/dependencies.lock
@@ -0,0 +1,21 @@
+dependencies:
+  espressif/esp_tinyusb:
+    component_hash: f151d680d6847bfcfd5d8eb6d1c3ff926c208e6b963b2e83643a141bc70baa15
+    source:
+      service_url: https://api.components.espressif.com/
+      type: service
+    version: 1.4.4
+  espressif/tinyusb:
+    component_hash: 214989d502fc168241a4a4f83b097d8ac44a93cd6f1787b4ac10069a8b3bebd3
+    source:
+      service_url: https://api.components.espressif.com/
+      type: service
+    version: 0.15.0~10
+  idf:
+    component_hash: null
+    source:
+      type: idf
+    version: 5.1.2
+manifest_hash: 7f60fd8da9b1e2b73aafbc324107a75ce3928aa50666473c15511b764484240c
+target: esp32s2
+version: 1.0.0
diff --git a/examples/int32_publisher_custom_transport_usbcdc/main/CMakeLists.txt b/examples/int32_publisher_custom_transport_usbcdc/main/CMakeLists.txt
new file mode 100644
index 00000000..1c3fa240
--- /dev/null
+++ b/examples/int32_publisher_custom_transport_usbcdc/main/CMakeLists.txt
@@ -0,0 +1 @@
+idf_component_register(SRCS main.c INCLUDE_DIRS ".")
\ No newline at end of file
diff --git a/examples/int32_publisher_custom_transport_usbcdc/main/Kconfig.projbuild b/examples/int32_publisher_custom_transport_usbcdc/main/Kconfig.projbuild
new file mode 100644
index 00000000..1ee6dcf2
--- /dev/null
+++ b/examples/int32_publisher_custom_transport_usbcdc/main/Kconfig.projbuild
@@ -0,0 +1,15 @@
+menu "micro-ROS example-app settings"
+
+    config MICRO_ROS_APP_STACK
+        int "Stack the micro-ROS app (Bytes)"
+        default 16000
+        help
+        Stack size in Bytes of the micro-ROS app
+
+    config MICRO_ROS_APP_TASK_PRIO
+        int "Priority of the micro-ROS app"
+        default 5
+        help
+        Priority of micro-ros task higher value means higher priority
+        
+endmenu
\ No newline at end of file
diff --git a/examples/int32_publisher_custom_transport_usbcdc/main/component.mk b/examples/int32_publisher_custom_transport_usbcdc/main/component.mk
new file mode 100644
index 00000000..0b9d7585
--- /dev/null
+++ b/examples/int32_publisher_custom_transport_usbcdc/main/component.mk
@@ -0,0 +1,5 @@
+#
+# "main" pseudo-component makefile.
+#
+# (Uses default behaviour of compiling all source files in directory, adding 'include' to include path.)
+
diff --git a/examples/int32_publisher_custom_transport_usbcdc/main/main.c b/examples/int32_publisher_custom_transport_usbcdc/main/main.c
new file mode 100644
index 00000000..f49bcc44
--- /dev/null
+++ b/examples/int32_publisher_custom_transport_usbcdc/main/main.c
@@ -0,0 +1,166 @@
+#include <stdio.h>
+#include <unistd.h>
+ 
+#include "driver/uart.h"
+#include "esp_log.h"
+#include "esp_system.h"
+#include "esp32s2_usbcdc_logging.h"
+#include "esp32s2_usbcdc_transport.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+ 
+#include <rcl/error_handling.h>
+#include <rcl/rcl.h>
+#include <rclc/executor.h>
+#include <rclc/rclc.h>
+#include <rmw_microros/rmw_microros.h>
+#include <rmw_microxrcedds_c/config.h>
+#include <std_msgs/msg/int32.h>
+
+#define DOMAIN_ID 100
+#define TIMER_PERIOD 1000
+
+#define NODE_NAME "esp32s2"
+#define PUBLISHER_NAME "/int32_publisher_usbcdc"
+#define TOPIC_NAME NODE_NAME PUBLISHER_NAME
+
+#define NUMBER_OF_HANDLES 1
+
+#define TAG_CALLBACK "TIMER_CALLBACK"
+#define TAG_MAIN "MAIN"
+#define TAG_TASK "MICRO_ROS"
+ 
+// Check for error in micro-ROS initialization, aborting the process
+#define RCCHECK(fn) {                                                         					 		\
+    rcl_ret_t temp_rc = fn;                                                    					 		\
+    if ((temp_rc != RCL_RET_OK)) {                                            					 		\
+      	ESP_LOGE("RCCHECK", "Failed status on line %d: %d. Aborting.\n", __LINE__, (int)temp_rc);		\
+      	vTaskDelete(NULL);                                                    					 		\
+    }                                                                         					 		\
+}
+
+// Check for error in micro-ROS initialization, continuing the process
+#define RCSOFTCHECK(fn) {                                                                              	\
+    rcl_ret_t temp_rc = fn;                                                                            	\
+    if ((temp_rc != RCL_RET_OK)) {                                            						   	\
+      	ESP_LOGW("RCSOFTCHECK","Failed status on line %d: %d. Continuing.\n", __LINE__, (int)temp_rc); 	\
+    }                                                                                                  	\
+}
+
+rcl_publisher_t publisher; // Publisher
+std_msgs__msg__Int32 msg; // Message to be published
+
+// Timer callback. Publishes a message
+void timer_callback(rcl_timer_t *timer, int64_t last_call_time) {
+	RCLC_UNUSED(last_call_time);
+	if (timer != NULL) {
+		// Publish message to topic
+		RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
+		ESP_LOGI(TAG_CALLBACK, "Message published: %ld", msg.data++);
+	}
+}
+ 
+void micro_ros_task(void *arg) {
+
+	rcl_allocator_t allocator = rcl_get_default_allocator(); // Initialize allocator
+	rclc_support_t support = {0}; // Initialize support
+	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options(); // Initialize init_options
+	
+	// Initialize init_options
+	RCCHECK(rcl_init_options_init(&init_options, allocator));
+
+	// Set domain id
+	RCCHECK(rcl_init_options_set_domain_id(&init_options, DOMAIN_ID));
+	
+	// Initialize support with options
+	RCCHECK(rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator));
+	
+	// Create node
+	rcl_node_t node = rcl_get_zero_initialized_node();
+	rcl_node_options_t node_ops = rcl_node_get_default_options();
+	RCCHECK(rclc_node_init_with_options(&node, NODE_NAME, "", &support, &node_ops));
+	
+	// Create publisher
+	RCCHECK(rclc_publisher_init_default(
+			&publisher,
+			&node,
+			ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
+			TOPIC_NAME));
+	
+	// Create timer
+	rcl_timer_t timer;
+	RCCHECK(rclc_timer_init_default2(
+			&timer, 
+			&support, 
+			RCL_MS_TO_NS(TIMER_PERIOD), 
+			timer_callback, 
+			true));
+	
+	// Create executor
+	rclc_executor_t executor;
+	RCCHECK(rclc_executor_init(&executor, &support.context, NUMBER_OF_HANDLES, &allocator));
+
+	// Add timer to executor
+	RCCHECK(rclc_executor_add_timer(&executor, &timer));
+	
+	msg.data = 0; // Initialize message data
+	rcl_ret_t spin_ret; // Return code for spin
+
+	while (true) {
+		spin_ret = rclc_executor_spin_some(&executor, RCL_MS_TO_NS(100));
+		if (spin_ret != RCL_RET_OK) {
+			ESP_LOGE(TAG_TASK, "rclc_executor_spin_some() failed");
+		}
+		usleep(10000);
+	}
+	
+	// Free resources
+	RCCHECK(rcl_publisher_fini(&publisher, &node));
+	RCCHECK(rcl_node_fini(&node));
+	ESP_LOGE(TAG_TASK, "Task finished");
+	
+	vTaskDelete(NULL);
+}
+ 
+static tinyusb_cdcacm_itf_t cdc_port = TINYUSB_CDC_ACM_0; // interface USB-CDC
+ 
+void app_main(void) {
+ 
+// Initialize logging over USB-CDC
+#if (CONFIG_TINYUSB_CDC_COUNT >= 2)
+	if (esp32s2_usbcdc_logging_init() == ESP_OK) {
+		ESP_LOGI(TAG_MAIN, "USB-CDC Logging initialized");
+	}
+#endif
+
+// Set micro-ROS custom transport layer
+#if defined(RMW_UXRCE_TRANSPORT_CUSTOM)
+	rmw_ret_t ret = rmw_uros_set_custom_transport(
+					true, 
+					(void *)&cdc_port, 
+					esp32s2_usbcdc_open, 
+					esp32s2_usbcdc_close,
+					esp32s2_usbcdc_write, 
+					esp32s2_usbcdc_read);
+	
+	if (ret != RMW_RET_OK) {
+		ESP_LOGE(TAG_MAIN, "Fail to set micro-ROS custom transport layer");
+		return;
+	}
+#else
+#error micro-ROS transports misconfigured
+#endif // RMW_UXRCE_TRANSPORT_CUSTOM
+
+	// Start micro-ROS task
+	TaskHandle_t task_handle = NULL;	
+	xTaskCreate(micro_ros_task, 
+				"uros_task", 
+				CONFIG_MICRO_ROS_APP_STACK, 
+				NULL,
+				CONFIG_MICRO_ROS_APP_TASK_PRIO, 
+				&task_handle);
+	
+	if (task_handle != NULL) {
+		ESP_LOGI(TAG_MAIN, "micro-ROS task created");
+	}
+}
\ No newline at end of file
diff --git a/examples/int32_publisher_custom_transport_usbcdc/sdkconfig.defaults b/examples/int32_publisher_custom_transport_usbcdc/sdkconfig.defaults
new file mode 100644
index 00000000..544d200d
--- /dev/null
+++ b/examples/int32_publisher_custom_transport_usbcdc/sdkconfig.defaults
@@ -0,0 +1,6 @@
+CONFIG_ESP_MAIN_TASK_STACK_SIZE=3000
+CONFIG_ESP_TASK_WDT=n
+CONFIG_MICRO_ROS_ESP_XRCE_DDS_MIDDLEWARE=y
+CONFIG_MICRO_ROS_ESP_UART_TRANSPORT=y
+CONFIG_TINYUSB_CDC_ENABLED=y
+CONFIG_TINYUSB_CDC_COUNT=2
\ No newline at end of file