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Your ESP32 board is trying to communicate with the micro-ROS agent via serial port. These binary traces you are seeing are the "init session" message of the micro-ROS underlying middleware, have you tried to open a micro-ROS agent that listen in the this serial port?

ros2 run micro_ros_agent micro_ros_agent serial --dev [device]

Check out tutorials for more details and do not hesitate to open an issue if you find more problems.