There is an image available from Husarion, a robotic company that creates a rapid development platform for robots, called CORE2-ROS. The image is a pre-built image with ROS Kinetic on Ubuntu 16.04. You can download the image and burn the it using Etcher, which is available at https://husarion.com/downloads/.
For more information, look at https://husarion.com/index.html.
Now, let's learn how to set up ROS on BeagleBone Black.