support for esp32-camera with freertos

NOTICE

@@ -31,3 +31,7 @@ Robert Bosch GmbH
 
 Boston Engineering
     Connor Lansdale <[email protected]>
+
+Dor Ben Harush 
+    Dor Ben Harush <[email protected]>
+

config/freertos/esp32/README.md

@@ -4,3 +4,54 @@
 - You can run idf targets like `menuconfig` or `monitor` by specifing the target as an argument to the `build_firmware.sh` script
 - The GPIO pins for the configured serial port can be set with `menuconfig` (see `micro-ROS Transport Settings` menu)
 - ESP32 only runs in singlecore mode (`CONFIG_FREERTOS_UNICORE=y` setting)
+
+
+# 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)
+  OR write this line `CONFIG_RTCIO_SUPPORT_RTC_GPIO_DESC=y` to `sdk.defaults`.
+- Choose your camera pins configuration in `menuconfig Camera configuration > Camera pins`. (`BOARD_ESP32CAM_AITHINKER` is default).
+- In order to view the images you will need to create a cv_bridge:
+```
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import String
+from cv_bridge import CvBridge, CvBridgeError
+from sensor_msgs.msg import CompressedImage
+import cv2
+import numpy as np
+
+
+
+
+class MinimalSubscriber(Node):
+
+    def __init__(self, ):
+        super().__init__('minimal_subscriber')
+        self.subscription = self.create_subscription(CompressedImage, 'freertos_picture_publisher', self.listener_callback, 10)
+        self.subscription  # prevent unused variable warning 
+        self.bridge = CvBridge()
+    def listener_callback(self, image_message):
+        self.get_logger().info('recieved an image')
+        
+    	#recieve image and co nvert to cv2 image
+        cv2.imshow('esp32_image', self.cv_image)
+        cv2.waitKey(3)
+
+        
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    minimal_subscriber = MinimalSubscriber()
+    
+    rclpy.spin(minimal_subscriber)
+    minimal_subscriber.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+   main()
+
+

config/freertos/esp32/create.sh

@@ -4,6 +4,10 @@ pushd $FW_TARGETDIR >/dev/null
 
     pushd toolchain >/dev/null
         git clone -b v4.1 --recursive https://github.com/espressif/esp-idf.git
+	      pushd esp-idf/components
+	        #add the esp32-camera repository to the components directory
+	        git clone https://github.com/espressif/esp32-camera.git
+	      popd
 
         mkdir espressif
         export IDF_TOOLS_PATH=$(pwd)/espressif