Check out the FAQ as well:
http://elinux.org/BeagleBoardFAQ.
Unfortunately, there does not appear to be any stand-alone tutorial on
getting "Hello world" running in 25 easy steps. The information is
kind of scattered all over the place. It's hard to write a single
tutorial since people are using so many different development
platforms. A few of us even persist in using Windows as a development
platform, but the Linux people have treated us with kindness and pity
rather than name-calling and derision :-)
When I was a newbie I started by getting Koen's Ångström demo
working. That's a very nice Linux implementation suitable for
developing both graphical and non-graphical applications. I wrote up
a list of things that weren't easily found:
http://groups.google.com/group/beagleboard/browse_thread/thread/3156ba8903dac3f4.
I haven't needed to do any JTAG-level debugging, so I haven't needed
any JTAG equipment. I just do lots of printf's. So besides the
BeagleBoard I have: +5V regulated power supply (yes, it must be well-
regulated or you will have a toasted BeagleBoard), 10pin IDC to DB9
ribbon cable, null modem cable, DVI-D monitor, DVI-D to HDMI cable, a
1GB SD card for Linux file system, externally-powered USB hub, USB
mouse, USB keyboard, and USB flash drive for transferring executables
between development platform and BeagleBoard. I built my own case,
but you can buy them. Check out the BeagleBoard Wiki and FAQ for
information about the BeagleBoard OTG USB connector and the USB mini A/
B issues.
Hope this helps.