Support esp-idf v6.0 (backport #334)

[mergify]

Added support for ESP-IDF v6.0.

Handled the new default libc (Picolibc). There may be a cleaner approach for handling the CMake-related changes, though.

Also made several version-specific compatibility adjustments and updated the CI configuration.

---

This is an automatic backport of pull request #334 done by Mergify.

[mergify]

Cherry-pick of 04f3cca has failed:

On branch mergify/bp/humble/pr-334
Your branch is up to date with 'origin/humble'.

You are currently cherry-picking commit 04f3cca.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   esp32_toolchain.cmake.in
	modified:   examples/int32_publisher_custom_transport_usbcdc/components/esp_usbcdc_logging/idf_component.yml
	modified:   examples/int32_publisher_custom_transport_usbcdc/components/esp_usbcdc_transport/idf_component.yml
	modified:   network_interfaces/uros_wlan_netif.c

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   .github/workflows/ci.yml
	both modified:   README.md

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[mergify]

Tick the box to add this pull request to the merge queue (same as @mergifyio queue).

• Queue this pull request

[EugenioCollado]

LGTM