As we (=Ivan/Angus) discussed, the esp32-specific openocd/gdb documentation and helper tools will live in the esp-idf repository. This is an initial document detailing the basics of setting up OpenOCD with an esp32 module. It should be sufficient for people already familiar with a similar setup on another platform to start using JTAG for debugging. It can be expanded much more (e.g. the tracetool still is missing) but we'llhave to add that later.
projects / esp-idf / commit