diff --git a/library.properties b/library.properties
index dc0b6db0..3cb1ffc4 100755
--- a/library.properties
+++ b/library.properties
@@ -7,4 +7,4 @@ paragraph=micro-ROS Arduino library
 url=https://github.com/micro-ROS/micro_ros_arduino
 precompiled=true
 category=Other
-architectures=stm32,OpenCR,Teensyduino,samd,sam,mbed,esp32,mbed_portenta
+architectures=stm32,OpenCR,Teensyduino,samd,sam,mbed,esp32,mbed_portenta,mbed_giga
diff --git a/src/cortex-m7/fpv4-sp-d16-hard/libmicroros.a b/src/cortex-m7/fpv4-sp-d16-hard/libmicroros.a
new file mode 100644
index 00000000..9d07fd17
Binary files /dev/null and b/src/cortex-m7/fpv4-sp-d16-hard/libmicroros.a differ
diff --git a/src/default_transport.cpp b/src/default_transport.cpp
index 82b15cdb..aa9b4908 100755
--- a/src/default_transport.cpp
+++ b/src/default_transport.cpp
@@ -4,7 +4,7 @@ extern "C"
 {
   #include <stdio.h>
   #include <stdbool.h>
-  #include <sys/time.h>
+  #include <time.h>
 
   int clock_gettime(clockid_t unused, struct timespec *tp) __attribute__ ((weak));
   bool arduino_transport_open(struct uxrCustomTransport * transport) __attribute__ ((weak));
diff --git a/src/micro_ros_arduino.h b/src/micro_ros_arduino.h
index 618d672a..f0e854bb 100755
--- a/src/micro_ros_arduino.h
+++ b/src/micro_ros_arduino.h
@@ -60,7 +60,17 @@ static inline void set_microros_transports(){
 #include <PortentaEthernet.h>
 #endif
 
-#if defined(TARGET_STM32F4) || defined(ARDUINO_TEENSY41)  || defined(TARGET_PORTENTA_H7_M7)
+#if defined(ARDUINO_ARCH_MBED_GIGA)
+#include <Arduino.h>
+#include <EthernetUdp.h>
+#include <Ethernet.h>
+
+#include <uxr/client/transport.h>
+#include <rmw_microros/rmw_microros.h>
+#include "IPAddress.h"
+#endif
+
+#if defined(TARGET_STM32F4) || defined(ARDUINO_TEENSY41)  || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_ARCH_MBED_GIGA)
 extern "C" bool arduino_native_ethernet_udp_transport_open(struct uxrCustomTransport * transport);
 extern "C" bool arduino_native_ethernet_udp_transport_close(struct uxrCustomTransport * transport);
 extern "C" size_t arduino_native_ethernet_udp_transport_write(struct uxrCustomTransport* transport, const uint8_t * buf, size_t len, uint8_t * err);
diff --git a/src/native_ethernet_transport.cpp b/src/native_ethernet_transport.cpp
index ecc2cf09..d078fea9 100755
--- a/src/native_ethernet_transport.cpp
+++ b/src/native_ethernet_transport.cpp
@@ -16,7 +16,15 @@
 #include <micro_ros_arduino.h>
 #endif
 
-#if defined(TARGET_STM32F4) || defined(ARDUINO_TEENSY41) || defined(TARGET_PORTENTA_H7_M7)
+#if defined(ARDUINO_ARCH_MBED_GIGA)
+#include <Arduino.h>
+#include <EthernetUdp.h>
+#include <Ethernet.h>
+#include <micro_ros_arduino.h>
+
+#endif
+
+#if defined(TARGET_STM32F4) || defined(ARDUINO_TEENSY41) || defined(TARGET_PORTENTA_H7_M7)|| defined(ARDUINO_ARCH_MBED_GIGA) 
 extern "C" {
 
 #include <stdbool.h>