diff --git a/rosserial_arduino/src/ros_lib/ArduinoBluetoothHardware.h b/rosserial_arduino/src/ros_lib/ArduinoBluetoothHardware.h
new file mode 100644
index 000000000..5caaf3738
--- /dev/null
+++ b/rosserial_arduino/src/ros_lib/ArduinoBluetoothHardware.h
@@ -0,0 +1,79 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *  * Neither the name of Willow Garage, Inc. nor the names of its
+ *    contributors may be used to endorse or promote prducts derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef ROS_ARDUINO_BLUETOOTH_HARDWARE_H_
+#define ROS_ARDUINO_BLUETOOTH_HARDWARE_H_
+
+#if not defined(ESP32)
+  #error ARDUINO BLUETOOTH HARDWARE CURRENTLY SUPPORT ONLY ESP32
+#endif
+
+#include <Arduino.h>
+#include "BluetoothSerial.h"
+
+class ArduinoHardware {
+public:
+  ArduinoHardware()
+  {
+  }
+
+  void init()
+  {
+    bluetooth_serial.begin("ROSSERIAL_BLUETOOTH");
+  }
+
+  void init(char *name)
+  {
+    bluetooth_serial.begin(name);
+  }
+
+  int read(){
+    return bluetooth_serial.read();
+  }
+
+  void write(const uint8_t* data, int length)
+  {
+    bluetooth_serial.write(data, length);
+  }
+
+  unsigned long time()
+  {
+    return millis();
+  }
+
+protected:
+  BluetoothSerial bluetooth_serial;
+};
+
+#endif
diff --git a/rosserial_arduino/src/ros_lib/examples/BluetoothHelloWorld/BluetoothHelloWorld.ino b/rosserial_arduino/src/ros_lib/examples/BluetoothHelloWorld/BluetoothHelloWorld.ino
new file mode 100644
index 000000000..6074300fb
--- /dev/null
+++ b/rosserial_arduino/src/ros_lib/examples/BluetoothHelloWorld/BluetoothHelloWorld.ino
@@ -0,0 +1,50 @@
+/**
+ * rosserial Publisher Example with ArduinoBluetoothHardware
+ * Prints "hello world!"
+ * This intends to be connected from bluetooth interface of host PC.
+ * First pair and connect to your esp32 after burning firmware.
+ *   bluetoothctl
+ *   scan on # check MAC address
+ *   scan off
+ *   pair <MAC address>
+ *   trust <MAC address>
+ *   connect <MAC address>
+ *   info <MAC address> # check if successfully connected
+ * After connect this device from PC, bind your device to serial device.
+ *   sudo rfcomm bind 1 <MAC Address of your device>
+ *   sudo stty -F /dev/rfcomm1 57600 cs8
+ * then you can now connect rosserial host node to serial device
+ *   rosrun rosserial_python serial_node.py _port:=/dev/rfcomm1 _baud:=57600
+ */
+
+#define ROSSERIAL_ARDUINO_BLUETOOTH // set this if you use rosserial over bluetooth
+
+#include <Arduino.h>
+#include <ros.h>
+#include <std_msgs/String.h>
+
+ros::NodeHandle nh;
+std_msgs::String str_msg;
+ros::Publisher chatter("chatter", &str_msg);
+
+char hello[14] = "hello world!";
+
+void setup()
+{
+    nh.initNode("BluetoothHelloworld");
+    nh.advertise(chatter);
+
+    // wait for bluetooth and rosserial host connection.
+    while (not nh.connected()) {
+        nh.spinOnce();
+        delay(100);
+    }
+}
+
+void loop()
+{
+    str_msg.data = hello;
+    chatter.publish( &str_msg );
+    nh.spinOnce();
+    delay(1000);
+}
diff --git a/rosserial_arduino/src/ros_lib/ros.h b/rosserial_arduino/src/ros_lib/ros.h
index 79013f0d1..d31395ada 100644
--- a/rosserial_arduino/src/ros_lib/ros.h
+++ b/rosserial_arduino/src/ros_lib/ros.h
@@ -39,6 +39,8 @@
 
 #if (defined(ESP8266) or defined(ESP32) or defined(ROSSERIAL_ARDUINO_TCP)) and not defined(ESP_SERIAL)
   #include "ArduinoTcpHardware.h"
+#elif defined(ROSSERIAL_ARDUINO_BLUETOOTH)
+  #include "ArduinoBluetoothHardware.h"
 #else
   #include "ArduinoHardware.h"
 #endif