1.打开Arduino IDE，选择文件->首选项->设置
复制下方的ESP32板管理网址，添加到附加开发板管理器中：
https://dl.espressif.com/dl/package_esp32_index.json
2.选择：工具->开发板->开发板管理器
在弹出的对话框中搜索ESP32,点击安装（注意：安装这一步需要翻墙）
3.然后重启Arduino IDE,即可发现ESP32的板载信息出现在列表里
4.点击工具->开发板，选择ESP32 Wrover Module
5.进行测试

void setup() {Serial.begin(115200);
}void loop() {Serial.println("Hello ESP32. Hello Arduino!");delay(1000);
}

上传成功后打开右上角的串口监视器，修改对应的串口波特率为115200

6.我编译成功，上传的时候出现了这样的错误

A fatal error occurred: Timed out waiting for packet content
A fatal error occurred: Timed out waiting for packet content

是由于ESP32的开发版下载速度太大出的问题，把下载速度设为更低的波特率即可
一些参考：
https://blog.csdn.net/ironpandaaa/article/details/104392461?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522161691119716780269882725%2522%252C%2522scm%2522%253A%252220140713.130102334…%2522%257D&request_id=161691119716780269882725&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2_allsobaiduend~default-1-104392461.pc_search_result_before_js&utm_term=arduino+esp32&spm=1018.2226.3001.4187

https://blog.csdn.net/qq_40700822/article/details/106376492?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522161691448116780264024845%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=161691448116780264024845&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2_allfirst_rank_v2~rank_v29-1-106376492.first_rank_v2_pc_rank_v29_10&utm_term=Arduino%3A1.8.13+%28Windows+10%29%2C+%E5%BC%80%E5%8F%91%E6%9D%BF%EF%BC%9A%22ESP32+Wrover+Module%2C+Default+4MB+with+spiffs+%281.2MB+APP%2F1.5MB+SPIFFS%29%2C+QIO%2C+80MHz%2C+921600%2C+None%22++++%E5%9C%A8%E6%96%87%E4%BB%B6±%3E+%E9%A6%96%E9%80%89%E9%A1%B9%E5%BC%80%E5%90%AF+%E2%80%9C%E7%BC%96%E8%AF%91%E8%BF%87%E7%A8%8B%E4%B8%AD%E6%98%BE%E7%A4%BA%E8%AF%A6%E7%BB%86%E8%BE%93%E5%87%BA%E2%80%9D%E9%80%89%E9%A1%B9+%E8%BF%99%E4%BB%BD%E6%8A%A5%E5%91%8A%E4%BC%9A%E5%8C%85%E5%90%AB%E6%9B%B4%E5%A4%9A%E4%BF%A1%E6%81%AF%E3%80%82