This guide shows how to build the simple light example from the esp-matter SDK for the ESP32-C6 to use Matter over Thread - because if you just build that example according to the official instructions, it will use Matter over WiFi instead. If you build the example for the ESP32-H2 (which only has Thread and BLE, but no WiFi - unlike the ESP32-C6), it will likely "just work" out of the box.
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A playground for personal ESP32 Matter Projects (and some instructions that might be helpful for others)
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