My shiny new BeagleBoard-xM arrived a few days ago. I have been too snowed in with OSGi to spare it some time. The test image on the supplied SD card boots fine, but I have grand plans for a slamming robot vehicle which will require more goodies (probably eventually ros). It has become even easier to get started with kinect and beagleboard thanks to the inclusion of libfreenect master in angstrom.