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This is an old question but has a lot of views. Thought I'd post my tutorial here. ROS Groovy on Ubuntu 12.04 on BeagleBoard-xM:

http://sysadminfixes.wordpress.com/2013/03/18/ros-on-beaglebuntu/

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Wrong version of Ubuntu

This is an old question but has a lot of views. Thought I'd post my tutorial here. ROS Groovy on Ubuntu 12.04 12.10 on BeagleBoard-xM:

http://sysadminfixes.wordpress.com/2013/03/18/ros-on-beaglebuntu/