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Support esp-idf v6.0 #385

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Run time

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Job	Run time
micro_ros_idf (esp32, v5.2)	16m 16s
micro_ros_idf (esp32s2, v5.2)	17m 54s
micro_ros_idf (esp32s2, v5.3)	17m 46s
micro_ros_idf (esp32, v5.5)	17m 2s
micro_ros_idf (esp32, v5.3)	17m 49s
micro_ros_idf (esp32s2, v5.5)	18m 12s
micro_ros_idf (esp32, v5.4)	17m 56s
micro_ros_idf (esp32s2, v5.4)	16m 34s
micro_ros_idf (esp32s3, v5.3)	16m 42s
micro_ros_idf (esp32s3, v5.2)	15m 36s
micro_ros_idf (esp32s3, v5.4)	17m 1s
micro_ros_idf (esp32c3, v5.3)	14m 12s
micro_ros_idf (esp32c6, v5.2)	15m 7s
micro_ros_idf (esp32c3, v5.5)	15m 8s
micro_ros_idf (esp32c3, v5.4)	16m 5s
micro_ros_idf (esp32c3, v5.2)	15m 22s
micro_ros_idf (esp32s3, v5.5)	17m 27s
micro_ros_idf (esp32c6, v5.3)	15m 50s
micro_ros_idf (esp32c6, v5.5)	15m 21s
micro_ros_idf (esp32c6, v5.4)	16m 18s
	5h 29m 38s