diff --git a/CMakeLists.txt b/CMakeLists.txt
index 06119f96..c6f94e0c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,4 +1,17 @@
-idf_component_register(SRCS "network_interfaces/uros_ethernet_netif.c" "network_interfaces/uros_wlan_netif.c"
+option(BUILD_ETHERNET_INTERFACE "Build ethernet interface support" OFF)
+option(BUILD_WLAN_INTERFACE "Build wlan interface support" ON)
+
+set(COMPONENT_SRC "")
+
+if(BUILD_ETHERNET_INTERFACE)
+    list(APPEND COMPONENT_SRC "network_interfaces/uros_ethernet_netif.c")
+endif()
+
+if(BUILD_WLAN_INTERFACE)
+    list(APPEND COMPONENT_SRC "network_interfaces/uros_wlan_netif.c")
+endif()
+
+idf_component_register(SRCS ${COMPONENT_SRC}
                        INCLUDE_DIRS "network_interfaces"
                        REQUIRES nvs_flash esp_wifi esp_eth lwip)
 
diff --git a/libmicroros.mk b/libmicroros.mk
index 3449996d..8d59e3d7 100644
--- a/libmicroros.mk
+++ b/libmicroros.mk
@@ -135,6 +135,21 @@ ifeq ($(IDF_TARGET),$(filter $(IDF_TARGET),esp32s2 esp32c3))
 		rm -rf $(UROS_DIR)/atomic_workaround; \
 		cd ..;
 endif
+ifeq ($(IDF_TARGET),$(filter $(IDF_TARGET),esp32))
+		echo $(UROS_DIR)/atomic_workaround; \
+		mkdir $(UROS_DIR)/atomic_workaround; cd $(UROS_DIR)/atomic_workaround; \
+		$(X_AR) x $(UROS_DIR)/install/lib/librcutils.a; \
+		$(X_STRIP) atomic_64bits.c.obj --strip-symbol=__atomic_fetch_add_8; \
+		if [ $(IDF_VERSION_MAJOR) -ge 5 ] && [ $(IDF_VERSION_MINOR) -ge 3 ]; then \
+			$(X_STRIP) atomic_64bits.c.obj --strip-symbol=__atomic_load_8; \
+			$(X_STRIP) atomic_64bits.c.obj --strip-symbol=__atomic_store_8; \
+			$(X_STRIP) atomic_64bits.c.obj --strip-symbol=__atomic_exchange_8; \
+		fi; \
+		$(X_AR) rc -s librcutils.a *.obj; \
+		cp -rf librcutils.a  $(UROS_DIR)/install/lib/librcutils.a; \
+		cd ..; \
+		rm -rf $(UROS_DIR)/atomic_workaround;
+endif
 
 $(EXTENSIONS_DIR)/libmicroros.a: $(EXTENSIONS_DIR)/micro_ros_src/install patch_atomic
 	mkdir -p $(UROS_DIR)/libmicroros; cd $(UROS_DIR)/libmicroros; \