I used

	./src/openocd -s ./tcl -f ./esp32.cfg
	
He recommends

	./src/openocd -s tcl -f interface/ftdi/esp32_devkitj_v1.cfg -f board/esp-wroom-32.cfg
	
New Trial

	./src/openocd -s tcl -f interface/jlink.cfg -f board/esp-wroom-32.cfg
	
Result

	jmreina@jmreina-ubuntu:~/openocd-esp32$ ./src/openocd -s tcl -f interface/jlink.cfg -f board/esp-wroom-32.cfg
	Open On-Chip Debugger 0.10.0-dev-gb5ec731 (2017-07-21-19:20)
	Licensed under GNU GPL v2
	For bug reports, read
		http://openocd.org/doc/doxygen/bugs.html
	adapter speed: 20000 kHz
	force hard breakpoints
	Info : No device selected, using first device.
	Info : J-Link V9 compiled Dec 16 2016 15:34:10
	Info : Hardware version: 9.40
	Info : VTarget = 0.000 V
	Info : Reduced speed from 20000 kHz to 15000 kHz (maximum).
	Info : Reduced speed from 20000 kHz to 15000 kHz (maximum).
	Info : clock speed 20000 kHz
	Error: JTAG scan chain interrogation failed: all zeroes
	Error: Check JTAG interface, timings, target power, etc.
	Error: Trying to use configured scan chain anyway...
	Error: esp32.cpu0: IR capture error; saw 0x00 not 0x01
	Warn : Bypassing JTAG setup events due to errors
	Error: cpu0: esp32_fetch_all_regs (line 163): DSR (FFFFFFFF) indicates target still busy!
	Error: cpu0: esp32_fetch_all_regs (line 163): DSR (FFFFFFFF) indicates DIR instruction generated an exception!
	Error: cpu0: esp32_fetch_all_regs (line 163): DSR (FFFFFFFF) indicates DIR instruction generated an overrun!
	Error: cpu0: esp32_fetch_all_regs (line 190): DSR (FFFFFFFF) indicates target still busy!
	Error: cpu0: esp32_fetch_all_regs (line 190): DSR (FFFFFFFF) indicates DIR instruction generated an exception!
	Error: cpu0: esp32_fetch_all_regs (line 190): DSR (FFFFFFFF) indicates DIR instruction generated an overrun!
	Error: Exception reading pc!

	Info : Target halted. PRO_CPU: PC=0x00000000             APP_CPU: PC=0x00000000 (active)
	Error: cpu0: xtensa_write_memory (line 696): DSR (FFFFFFFF) indicates target still busy!
	Error: cpu0: xtensa_write_memory (line 696): DSR (FFFFFFFF) indicates DIR instruction generated an exception!
	Error: cpu0: xtensa_write_memory (line 696): DSR (FFFFFFFF) indicates DIR instruction generated an overrun!
	Warn : esp32: Failed writing 4 bytes at address 0x3FF5F064, data - a1, 3a, d8, 50, a1, 3a, d8, 50
	embedded:startup.tcl:21: Error: 
	in procedure 'init' 
	in procedure 'ocd_bouncer' 
	in procedure 'flash' 
	in procedure 'ocd_bouncer' 
	in procedure 'esp_core_halt' 
	in procedure 'esp32' called at file "tcl/target/esp32.cfg", line 37
	in procedure 'ocd_bouncer' 
	at file "embedded:startup.tcl", line 21

	Info : esp32: Debug controller was reset (pwrstat=0xFF, after clear 0xFF).
	Info : esp32: Core was reset (pwrstat=0xFF, after clear 0xFF).


Ref
	(525)  ./usr/local/share/openocd/scripts/interface/ftdi/esp32_devkitj_v1.cfg
	(1798) ./home/jmreina/openocd-esp32/tcl/interface/ftdi/esp32_devkitj_v1.cfg
											***********************************
											
	(65)   ./usr/local/share/openocd/scripts/board/esp-wroom-32.cfg
	(1338) ./home/jmreina/openocd-esp32/tcl/board/esp-wroom-32.cfg
								            **********************