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We did the same on Beagleboard and Beagleboard XM, however we didn't install any X-server related things because we only use it to interface robots (Pioneer + Peoplebot) or sensors (Hokuyo, Sick, ...) to the network. I had an old SD card image on my website, I'll take the time to put a new one online, if people show interest for it. We'll soon be putting a crosscompile toolchain tutorial online for the Beagleboard (after it got tested with students in a course).