Have you changed your esp sketch as follows:
#include <SoftwareSerial.h>
SoftwareSerial espSerial(5, 4);//SRX = 5, STX = 4;
void setup()
{
//pinMode(5, INPUT);
//pinMode(4, OUTPUT);
espSerial.begin(9600);
Serial.begin(9600);
}
void loop()
{
if(espSerial.available())
{
Serial.print(espSerial.read());
}
delay(10);
}