On the server side of things, the ESP32 and its attached camera are set up with MQTT, a lightweight communications protocol which uses a publish/subscribe model to send information. The ESP32 is ...

But that’s about how much [Bitluni] paid for an ESP32-CAM ... in the details. The camera starts out needing configuration on the USB interface and that enables the set up of Arduino integration ...

Additionally, he explored an alternative approach without removing any hardware. Instead, he used the Roomba Open Interface (ROI), a built-in feature of the vacuum cleaner’s original control board.