support for esp32-camera with freertos

[DorBenHarush]

• Add the esp32-camera repository to /esp-idf/components.
• The firmware creation is esp32 like:
  ros2 run micro_ros_setup create_firmware_ws.sh freertos esp32

Signed-off-by: Dor Ben Harush [email protected]

[donRaphaco]

relates to micro-ROS/freertos_apps/pull/26

[pablogs9]

Is there any reason for using IDF 4.0.1 instead of 4.1?

[DorBenHarush]

No, I haven't noticed that the IDF version has changed. I'll change it back.

[DorBenHarush]

Hi @pablogs9, the function rtc_gpio_desc causes the error(CI) because it must be supported in the menuconfig or directly in the sdkconfig.defaults file. Since the sdkconfig.defaults is outdated and menuconfig is not available during the check, The only way I see to pass the check is to update the sdk as I did here

[pablogs9]

I have a question here, is possible to keep using the ESP32 micro-ROS port without the camera? Which board is the one with the camera integrated?

[DorBenHarush]

Yes, it is possible to use ESP32 micro-ROS port without the camera but you have to make sure that SPIRAM is not enabled.

[pablogs9]

We should make this ESP32+camera port as an option of the simple ESP32 or make it a separate port. Is a different hardware board?

[DorBenHarush]

esp32-camera has the same hardware as a normal esp32, the difference is that instead of normal pins some of them are connected to the cmaera and to the SD card. every code that runs on a normal esp32 should run on esp32-camera with no problems. So I think it should remain as an extension of the esp32. I wrote the steps of how to use the camera board in the README file

[pablogs9]

What about leaving the port as similar as possible and writing in the README the instructions to enable the camera operation?
I mean, for example explaining in the readme that this line and this one are necessary.

My point is not to enable features that are not necessary for the ESP32 without a camera.

What do you think @DorBenHarush @ralph-lange @jamoralp?

[DorBenHarush]

these are notes I added to the README in config/freertos/esp32

`# Notes for ESP32-CAMERA

• SPIRAM is requierd only for ESP32-CAMERA and can cause a fatal error in ESP32 (Enable in menuconfig Component config > ESP32-specific OR add CONFIG_ESP32_SPIRAM_SUPPORT=y to sdkconfig.defaults file).
• Make sure that rtc_gpio_desc array is supported in menuconfig: Component config > Driver configurations > RTCIO configuration (set to TRUE)
• Choose your camera pins configuration in menuconfig Camera configuration > Camera pins. (BOARD_ESP32CAM_AITHINKER is default).`
  I think that this line can stay.
  I'll go over my workflow to add more to the notes above (like this line).

[pablogs9]

I would like to see this Python app as a .py file included in the freertos_apps app specific folder

[pablogs9]

Regarding this, is possible to explain it a README.md inside the freertos_apps app folder?