diff --git a/app.overlay b/app.overlay
new file mode 100644
index 0000000..15cc0b0
--- /dev/null
+++ b/app.overlay
@@ -0,0 +1,16 @@
+/*Added these lines for compability with Zephyr v2.7*/
+zephyr_udc0: &usbotg_fs {
+	pinctrl-0 = <&usb_otg_fs_dm_pa11 &usb_otg_fs_dp_pa12
+		     &usb_otg_fs_id_pa10>;
+	pinctrl-names = "default";
+	status = "okay";
+};
+/* End of compability part */
+
+
+&zephyr_udc0 {
+	cdc_acm_uart0: cdc_acm_uart0 {
+		compatible = "zephyr,cdc-acm-uart";   
+                label = "CDC_ACM_0";
+        };
+};
diff --git a/modules/libmicroros/Kconfig b/modules/libmicroros/Kconfig
index b6e9cb3..d918025 100644
--- a/modules/libmicroros/Kconfig
+++ b/modules/libmicroros/Kconfig
@@ -18,10 +18,11 @@ if MICROROS
         
         config MICROROS_TRANSPORT_SERIAL
             bool "micro-ROS serial transport"
-        
+            select RING_BUFFER
         config MICROROS_TRANSPORT_SERIAL_USB
             bool "micro-ROS USB serial transport"
-        
+             select RING_BUFFER
+             select USB_DEVICE_STACK
         config MICROROS_TRANSPORT_UDP
             bool "micro-ROS UDP network transport"
         
@@ -64,7 +65,18 @@ if MICROROS
                 micro-ROS Agent IP.
     endif
 
-    
+    if MICROROS_TRANSPORT_SERIAL_USB
+        config USB_CDC_ACM
+            bool 
+            default y
+        config USB_CDC_ACM_RINGBUF_SIZE
+            int "USB-CDC-ACM Ringbuffer size"
+            default "2048"
+        config USB_DEVICE_PRODUCT
+            string "USB Device Product"
+            default "Zephyr micro-ROS"
+
+    endif
     config MICROROS_NODES
         string "available micro-ROS nodes"
         default "1"
@@ -98,4 +110,4 @@ if MICROROS
         default "4"  
 
 endif
-    
\ No newline at end of file
+
diff --git a/prj.conf b/prj.conf
index ccb67ed..aa11d31 100644
--- a/prj.conf
+++ b/prj.conf
@@ -13,13 +13,7 @@ CONFIG_APP_LINK_WITH_POSIX_SUBSYS=y
 CONFIG_POSIX_CLOCK=y
 
 CONFIG_STDOUT_CONSOLE=y
-CONFIG_USB_DEVICE_STACK=y
-CONFIG_USB_DEVICE_PRODUCT="Zephyr micro-ROS"
 CONFIG_LOG=y
-CONFIG_USB_CDC_ACM=y
 CONFIG_SERIAL=y
 CONFIG_UART_INTERRUPT_DRIVEN=y
 CONFIG_UART_LINE_CTRL=y
-CONFIG_USB_DRIVER_LOG_LEVEL_ERR=y
-CONFIG_USB_DEVICE_LOG_LEVEL_ERR=y
-CONFIG_USB_CDC_ACM_RINGBUF_SIZE=2048