diff --git a/apps/int32_subscriber/app.c b/apps/int32_subscriber/app.c
index 4f755fd3..9e58cd05 100644
--- a/apps/int32_subscriber/app.c
+++ b/apps/int32_subscriber/app.c
@@ -2,11 +2,17 @@
 #include <rcl/error_handling.h>
 #include <rclc/rclc.h>
 #include <rclc/executor.h>
+#include <unistd.h>
 
 #include <std_msgs/msg/int32.h>
 
 #include <stdio.h>
 
+#ifdef ESP_PLATFORM
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#endif
+
 #define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printf("Failed status on line %d: %d. Aborting.\n",__LINE__,(int)temp_rc);vTaskDelete(NULL);}}
 #define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printf("Failed status on line %d: %d. Continuing.\n",__LINE__,(int)temp_rc);}}