Hi @Ajaykumaar_S! Ever heard of micro-ROS? In a nutshell, it is a library allowing you to bring a ROS 2 node into microcontrollers. Specifically, we already have a port to the ESP32 that supports WiFi. Moreover, as micro-ROS comes natively interoperable with the ROS 2 ecosystem, you can leverage any of the different ready-to-use solutions that allow bridging ROS 2 with ROS in order to put your micro-ROS node into communication with your ROS operated bot. To this end, see e.g. how to do so with SOSS, for which a detailed tutorial can be found here. If wanting to know more, don’t hesitate to contact us!
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