Maybe you have not ESP32 module, but if you plan to buy it, you should check this tutorial “ESP32 in Arduino IDE for Mac and Debian/Ubuntu”.
On this page you find what to do for correct working ESP32 in Arduino IDE.
After these steps you check if it works properly through example program, WiFi scanner, which you load to ESP32.
All steps there: http://randomnerdtutorials.com/installing-the-esp32-board-in-arduino-ide-mac-and-linux-instructions/