How to use ESP32 WROVER B with Ubuntu?

I want to use ESP32 WROVER B, and as I read here I need CP210x USB driver to use with Arduino IDE. But when I want to use it, I got this error:

usb_driver/cp210x.c:290:18: error: initialization of ‘void (*)(struct usb_serial_port *)’ from incompatible pointer type ‘int (*)(struct usb_serial_port *)’ [-Werror=incompatible-pointer-types]
  290 |  .port_remove  = cp210x_port_remove,
      |                  ^~~~~~~~~~~~~~~~~~

Than I noticed that it is already installed on ubuntu 17+ versions, and I can see it:

user@user:ls -al /lib/modules/"$(uname -r)"/kernel/drivers/usb/serial/cp210x.ko
-rw-r--r-- 1 root root 63361 ian 14 00:11 /lib/modules/5.13.0-27-generic/kernel/drivers/usb/serial/cp210x.ko

Then I used sudo modprobe cp210x, restarted, but nothing has changed, in Arduino IDE the Tools > Port submenu is unavailable.

What can I do? How can I connect my Ubuntu to ESP32?

EDIT: With lsusb -t I got:

/:  Bus 03.Port 1: Dev 1, Class=root_hub, Driver=xhci_hcd/4p, 5000M
/:  Bus 02.Port 1: Dev 1, Class=root_hub, Driver=xhci_hcd/9p, 480M
/:  Bus 01.Port 1: Dev 1, Class=root_hub, Driver=ehci-pci/2p, 480M
    |__ Port 1: Dev 2, If 0, Class=Hub, Driver=hub/8p, 480M

And I am on

Distributor ID: Ubuntu
Description:    Ubuntu 20.04.3 LTS
Release:    20.04
Codename:   focal

You have to check cable, this driver is built-in to the kernel package.

Then you can install esptool from the repository as follows:

sudo apt-add-repository universe
sudo apt-get update
sudo apt-get install esptool

To use it as normal user you have to execute below command to add your user to dialout group:

sudo usermod -a -G dialout $USER

then logout and login back.