ESP32 with MPU6050 using DMP


I am working on a project where I need the precise orientation of an MPU6050. I started off using the Adafruit mpu6050 library and everything was working fine. However, I needed to use the DMP for accurate results. I am trying to use the MPU6050 library by Jeff Rowberg: MPU6050 by Jeff Rowberg.

When trying to use the MPU6050_DMP6 example in the Arduino IDE, it uploads, but when I reset the ESP32 and look for data in the Serial Monitor, It stops at "Initializing I2C devices". I tried changing removing the "sleepModeEnabled(false)" from the library source, and by removing it the code is able to proceed, but the rest of the code still doesn't work, again it stops at "Testing device connections...". Does anyone know why I am getting these errors and what I can do to fix it?