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I don't have any experience with running ros in an embed device such as beaglebone. But, when it says that the installation must not be done in the beagle, that might be because ROS is too big to be compiled in the device it self. I have an intel i5 and i compiled ROS from source. That took a while man, guess in the beagle. Once i compiled OpenCV in the raspberry pi and i had to let the compilation proccess run during an entire night... The faq talks about cross-compiling, that is, you gonna compile the system in a different architecture rather than in the beagle. Then, when it's compiled, you are going to transfer that to the beagle... I hope i managed to help you.
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