OpenOCD for 64-bit Linux is available for download from Github:
https://github.com/espressif/openocd-esp32/releases
Download latest release archive with linux64 in its name, for example openocd-esp32-linux64-0.10.0-esp32-20180418.tar.gz.
Extract the downloaded file in ~/esp/ directory:
cd ~/esp
tar -xzf ~/Downloads/openocd-esp32-linux64-<version>.tar.gz To carry on with debugging environment setup, proceed to section jtag-debugging-configuring-esp32-target.
building-openocd-linux