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Hi,

In Ubuntu, you should be able to get the package from the official repositories. If it's not packaged for your release, you can try to build and install the package (follow the instructions on the Wiki for Debian systems).

You can also have a look on the ROS page of the GumstickWiki : http://wiki.gumstix.org/index.php?title=ROS, there's a small part about bullet.

If your want more precise help, we need more details about your setup: What's you Linux distro ? What steps did you try ? And so on, the more __relevant__ details, the better ;)