Software

The software is Ubuntu 11.10 instructions are here 
The software for the arbotix is here
Installing ROS is the hard part you have to do a source install follow the instructions here select a ROS-base install.
I spent a lot of time trying to compile other features like robot_model that resulted in failure (after about 6 hours). I was able to run Roscore and the Arbotix driver on the beagleBoard and move_base and the URDF on a remote computer with Rviz and teleop or using navigation in rviz. I still need to compile UVC_cam to compile
(opencv causes errors) and install festival TTS