Jacob Wrestles With Esau's Angel?

I read an interesting interpretation in The Little Midrash Says about Jacob's night of wrestling with an angel.

I was told that some have interpreted Jacob's wresting all night with wrestling with G-d, but the interpretation from the Midrash is that Jacob's brother Esau had an angel attached to him. They wrestled all night, but because Hashem protected Jacob, the angel could not win.

Finally the angel decided to go back to heaven, but first, Jacob insisted on the angel saying that Jacob deserved Isaac's blessing.

Not only did the angel admit it, but the angel explained to Jacob that he would now be called Israel because Jacob would be the father of a great nation!