diff --git a/.github/workflows/build-check.yaml b/.github/workflows/build-check.yaml
index be3e52d7e..4f73f6d81 100644
--- a/.github/workflows/build-check.yaml
+++ b/.github/workflows/build-check.yaml
@@ -30,7 +30,7 @@ jobs:
       - name: Build & run tests
         run: |
           sudo apt install -y ninja-build
-          CMAKE_GENERATOR=Ninja make test
+          CMAKE_GENERATOR=Ninja ASAN=ON make test
 
   check_format:
     name: Check codebase format with clang-format
@@ -290,6 +290,6 @@ jobs:
       - name: Build & test pico
         run: |
           sudo apt install -y ninja-build
-          CMAKE_GENERATOR=Ninja make
+          CMAKE_GENERATOR=Ninja ASAN=ON make
           python3 ./build/tests/no_router.py
         timeout-minutes: 5
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9ef984042..7a9fb6d10 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -97,7 +97,6 @@ else()
       add_compile_options(-Wpedantic)
     endif()
     # add_compile_options(-Wconversion)
-    # add_link_options(-fsanitize=address)
   elseif(MSVC)
     add_compile_options(/W4 /WX /Od /wd4127)
   elseif(CMAKE_SYSTEM_NAME MATCHES "Generic")
@@ -379,12 +378,14 @@ option(BUILD_EXAMPLES "Use this to also build the examples." ON)
 option(BUILD_TOOLS "Use this to also build the tools." OFF)
 option(BUILD_TESTING "Use this to also build tests." ON)
 option(BUILD_INTEGRATION "Use this to also build integration tests." OFF)
+option(ASAN "Enable AddressSanitizer." OFF)
 
 message(STATUS "Produce Debian and RPM packages: ${PACKAGING}")
 message(STATUS "Build examples: ${BUILD_EXAMPLES}")
 message(STATUS "Build tools: ${BUILD_TOOLS}")
 message(STATUS "Build tests: ${BUILD_TESTING}")
 message(STATUS "Build integration: ${BUILD_INTEGRATION}")
+message(STATUS "AddressSanitizer: ${ASAN}")
 
 set(PICO_LIBS "")
 if(PICO_STATIC)
@@ -453,6 +454,11 @@ if(BUILD_EXAMPLES)
   add_subdirectory(examples)
 endif()
 
+if(ASAN)
+  add_compile_options(-fsanitize=address)
+  add_link_options(-fsanitize=address)
+endif()
+
 if(UNIX OR MSVC)
   if(BUILD_TOOLS)
     set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/tools)
diff --git a/GNUmakefile b/GNUmakefile
index 0a254575c..12a97bf06 100644
--- a/GNUmakefile
+++ b/GNUmakefile
@@ -41,6 +41,10 @@ BUILD_TOOLS?=OFF
 # Accepted values: ON, OFF
 FORCE_C99?=OFF
 
+# Enable AddressSanitizer.
+# Accepted values: ON, OFF
+ASAN?=OFF
+
 # Debug level. This sets the ZENOH_DEBUG variable.
 # Accepted values:
 #  0: NONE
@@ -82,7 +86,7 @@ CMAKE_OPT=-DZENOH_DEBUG=$(ZENOH_DEBUG) -DBUILD_EXAMPLES=$(BUILD_EXAMPLES) -DCMAK
  -DZ_FEATURE_MULTI_THREAD=$(Z_FEATURE_MULTI_THREAD) -DZ_FEATURE_INTEREST=$(Z_FEATURE_INTEREST) -DZ_FEATURE_UNSTABLE_API=$(Z_FEATURE_UNSTABLE_API)\
  -DZ_FEATURE_PUBLICATION=$(Z_FEATURE_PUBLICATION) -DZ_FEATURE_SUBSCRIPTION=$(Z_FEATURE_SUBSCRIPTION) -DZ_FEATURE_QUERY=$(Z_FEATURE_QUERY) -DZ_FEATURE_QUERYABLE=$(Z_FEATURE_QUERYABLE)\
  -DZ_FEATURE_RAWETH_TRANSPORT=$(Z_FEATURE_RAWETH_TRANSPORT) -DFRAG_MAX_SIZE=$(FRAG_MAX_SIZE) -DBATCH_UNICAST_SIZE=$(BATCH_UNICAST_SIZE) -DBATCH_MULTICAST_SIZE=$(BATCH_MULTICAST_SIZE)\
- -DBUILD_INTEGRATION=$(BUILD_INTEGRATION) -DBUILD_TOOLS=$(BUILD_TOOLS) -DBUILD_SHARED_LIBS=$(BUILD_SHARED_LIBS) -H.
+ -DASAN=$(ASAN) -DBUILD_INTEGRATION=$(BUILD_INTEGRATION) -DBUILD_TOOLS=$(BUILD_TOOLS) -DBUILD_SHARED_LIBS=$(BUILD_SHARED_LIBS) -H.
 
 ifeq ($(FORCE_C99), ON)
 	CMAKE_OPT += -DCMAKE_C_STANDARD=99