diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index eafe3b50..4b93d7e8 100755
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -12,8 +12,12 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        idf_target: [ esp32, esp32s2, esp32s3, esp32c3]
+        idf_target: [ esp32, esp32s2, esp32s3, esp32c3, esp32c6]
         idf_version: [ "espressif/idf:release-v4.4", "espressif/idf:release-v5.2" ]
+        exclude:
+          # Skip IDF v4 + ESP32C6 combination
+          - idf_target: esp32c6
+            idf_version: espressif/idf:release-v4.4
 
     container:
       image: ${{ matrix.idf_version }}
@@ -54,7 +58,7 @@ jobs:
 
       - name: Build sample - low_consumption
         shell: bash
-        if: matrix.idf_target != 'esp32c3' && matrix.idf_target != 'esp32s3'
+        if: matrix.idf_target != 'esp32c3' && matrix.idf_target != 'esp32s3' && matrix.idf_target != 'esp32c6'
         run: |
           . $IDF_PATH/export.sh
           cd micro_ros_espidf_component/examples/low_consumption
diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml
index 82bc473a..419795fb 100644
--- a/.github/workflows/nightly.yml
+++ b/.github/workflows/nightly.yml
@@ -14,9 +14,14 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        branch: [iron, rolling, humble]
-        idf_target: [ esp32, esp32s2, esp32c3, esp32s3]
+        branch: [rolling, jazzy, humble]
+        idf_target: [ esp32, esp32s2, esp32c3, esp32s3, esp32c6]
         idf_version: [ "espressif/idf:release-v4.4", "espressif/idf:release-v5.2" ]
+        exclude:
+          # Skip IDF v4 + ESP32C6 combination
+          - idf_target: esp32c6
+            idf_version: espressif/idf:release-v4.4
+
 
     container:
       image: ${{ matrix.idf_version }}
@@ -58,7 +63,7 @@ jobs:
 
       - name: Build sample - low_consumption
         shell: bash
-        if: matrix.idf_target != 'esp32c3' && matrix.idf_target != 'esp32s3'
+        if: matrix.idf_target != 'esp32c3' && matrix.idf_target != 'esp32s3' && matrix.idf_target != 'esp32c6'
         run: |
           . $IDF_PATH/export.sh
           cd micro_ros_espidf_component/examples/low_consumption
@@ -104,4 +109,4 @@ jobs:
           make -f libmicroros.mk clean
           cd examples/int32_publisher_embeddedrtps
           idf.py set-target ${{ matrix.idf_target }}
-          idf.py build
\ No newline at end of file
+          idf.py build
diff --git a/README.md b/README.md
index 19b12d3f..12245db6 100644
--- a/README.md
+++ b/README.md
@@ -3,7 +3,7 @@
 
 # micro-ROS component for ESP-IDF
 
-This component has been tested in ESP-IDF v4.4, and v5.2 with ESP32, ESP32-S2, ESP32-S3 and ESP32-C3.
+This component has been tested in ESP-IDF v4.4, and v5.2 with ESP32, ESP32-S2, ESP32-S3, ESP32-C3 and ESP32-C6.
 
 ## Dependencies
 
diff --git a/esp32_toolchain.cmake.in b/esp32_toolchain.cmake.in
index 599cca23..5bc33a7c 100644
--- a/esp32_toolchain.cmake.in
+++ b/esp32_toolchain.cmake.in
@@ -5,7 +5,9 @@ set(CMAKE_SYSTEM_NAME Generic)
 set(idf_target "@IDF_TARGET@")
 set(idf_path "@IDF_PATH@")
 
-if("${idf_target}" STREQUAL "esp32c3")
+set(RISCV_TARGETS "esp32c3" "esp32c6")
+
+if("${idf_target}" IN_LIST RISCV_TARGETS)
     set(CMAKE_SYSTEM_PROCESSOR riscv)
     set(FLAGS "-ffunction-sections -fdata-sections" CACHE STRING "" FORCE)
 else()
diff --git a/libmicroros.mk b/libmicroros.mk
index b1bdf50d..e5d22e29 100644
--- a/libmicroros.mk
+++ b/libmicroros.mk
@@ -107,7 +107,7 @@ $(EXTENSIONS_DIR)/micro_ros_src/install: $(EXTENSIONS_DIR)/esp32_toolchain.cmake
 
 patch_atomic:$(EXTENSIONS_DIR)/micro_ros_src/install
 # Workaround https://github.com/micro-ROS/micro_ros_espidf_component/issues/18
-ifeq ($(IDF_TARGET),$(filter $(IDF_TARGET),esp32s2 esp32c3))
+ifeq ($(IDF_TARGET),$(filter $(IDF_TARGET),esp32s2 esp32c3 esp32c6))
 		echo $(UROS_DIR)/atomic_workaround; \
 		mkdir $(UROS_DIR)/atomic_workaround; cd $(UROS_DIR)/atomic_workaround; \
 		$(X_AR) x $(UROS_DIR)/install/lib/librcutils.a; \