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esp32-camera configuration

Step 1: create and configure

The create_firmware_ws.sh is the same as esp32.
After the create_firmware step you need to add the esp32-camera repository to the esp-idf components directory with the following commands.

pushd microros_ws/firmware/toolchain/esp-idf/components

git clone https://github.com/espressif/esp32-camera.git

popd

The configuration step is also the same as esp32.

Step 2: menuconfig

 Serial flasher config > Flash size (set to 4M) 
 
 Component config > ESP32-specific > Support for external, SPI-connected RAM` (set to true)
 
 Component config > Driver configurations > RTCIO configuration (set to TRUE)
 
 Camera configuration > Camera pins. (BOARD_ESP32CAM_AITHINKER is default)

Another way to enable the above is with the sdkconfig.defaults file by adding these lines:

CONFIG_ESPTOOLPY_FLASHSIZE_4MB=y
CONFIG_RTCIO_SUPPORT_RTC_GPIO_DESC=y
CONFIG_ESP32_SPIRAM_SUPPORT=y
**PICK ONE OPTION**
CONFIG_BOARD_ESP32CAM_AITHINKER=y **OR**  CONFIG_BOARD_WROVER_KIT=y

Step 3 : build, flash and run a micro-ros-agent
Step 4 : Run view_image.py