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Support esp-idf v6.0 #412

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Run time

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Job	Run time
micro_ros_idf (esp32s3, v5.3)	17m 37s
micro_ros_idf (esp32s2, v5.4)	18m 2s
micro_ros_idf (esp32s3, v5.4)	15m 2s
micro_ros_idf (esp32c6, v5.2)	14m 58s
micro_ros_idf (esp32s2, v5.3)	17m 18s
micro_ros_idf (esp32c3, v5.4)	16m 7s
micro_ros_idf (esp32, v5.2)	16m 16s
micro_ros_idf (esp32, v5.4)	16m 13s
micro_ros_idf (esp32, v5.5)	15m 56s
micro_ros_idf (esp32c6, v5.3)	14m 1s
micro_ros_idf (esp32s2, v5.2)	17m 50s
micro_ros_idf (esp32s3, v5.5)	17m 20s
micro_ros_idf (esp32, v5.3)	15m 53s
micro_ros_idf (esp32c3, v5.3)	14m 42s
micro_ros_idf (esp32s2, v5.5)	18m 28s
micro_ros_idf (esp32c3, v5.2)	15m 5s
micro_ros_idf (esp32c6, v5.5)	16m 0s
micro_ros_idf (esp32s3, v5.2)	17m 10s
micro_ros_idf (esp32c6, v5.4)	16m 13s
micro_ros_idf (esp32c3, v5.5)	16m 54s
	5h 27m 5s