Esp32 is unable to execute the uploaded code

[sdg123]

Hello, I'm able to upload the code successfully but esp32 is not executing the code. I'm getting the following message on the Serial monitor:

ets Jul 29 2019 12:21:46

rst:0x1 (POWERON_RESET),boot:0x3 (DOWNLOAD_BOOT(UART0/UART1/SDIO_REI_REO_V2))
waiting for download

When I reset the esp32, it starts executing the code only if I connect IO0 to VCC.

[ESP_Sprite]

What development hardware are you using? IO0 is the pin that makes the ESP32 go into download mode if it has a low level on it, so I'd imagine your board may be missing a pullup or so for that.