diff --git a/modules/libmicroros/microros_transports/udp/microros_transports.h b/modules/libmicroros/microros_transports/udp/microros_transports.h
index 760a905..ffeeb8f 100644
--- a/modules/libmicroros/microros_transports/udp/microros_transports.h
+++ b/modules/libmicroros/microros_transports/udp/microros_transports.h
@@ -18,8 +18,13 @@
 #include <unistd.h>
 
 #include <sys/types.h>
+#if ZEPHYR_VERSION_CODE >= ZEPHYR_VERSION(3,2,0)
+#include <zephyr/posix/sys/socket.h>
+#include <zephyr/posix/poll.h>
+#else
 #include <posix/sys/socket.h>
 #include <posix/poll.h>
+#endif
 
 #ifdef __cplusplus
 extern "C"
diff --git a/src/main.c b/src/main.c
index a1d876c..0a8c0a8 100644
--- a/src/main.c
+++ b/src/main.c
@@ -1,7 +1,11 @@
 #include <version.h>
 
 #if ZEPHYR_VERSION_CODE >= ZEPHYR_VERSION(3,1,0)
+#if ZEPHYR_VERSION_CODE >= ZEPHYR_VERSION(3,2,0)
+#include <zephyr/kernel.h>
+#else
 #include <zephyr/zephyr.h>
+#endif
 #include <zephyr/device.h>
 #include <zephyr/devicetree.h>
 #include <zephyr/drivers/gpio.h>