Xenomai realtime kernel (arm7) Wheezy and Jessie

Choose and copy and paste the following into a shell to install your kernel:

Note the Beaglebone Xenomai kernel is distributed via http://repos.rcn-ee.com/debian/, this repo should already be configured in /etc/apt/sources.list if you started with a Beaglebone Debian SD card. To list current Xenomai kernels available, run apt-get update; apt-cache search linux-image-3.8 |grep xenomai. For now, stay with the linux-image-3.8 Xenomai kernels.

sudo apt-get install linux-image-3.8.13-xenomai-r78  # current beaglebone xenomai kernel.