This repository is a BeagleBoard.org specific upstream of ZephyrRTOS, intended for experimentation before PRs are merged upstream. The support here is on a best effort basis. If the board support has already been merged upstream, it is likely a better idea to use the upstream Zephyr tree.
Then instructions are mostly the same as Getting Started Guide.
However, to use this tree directly from west, use the following command:
west init -m https://github.com/beagleboard/zephyr.git --mr zephyr-4.1.0 --mf west_beagle.yml
The above command will clone only the dependencies required for use with BeagleBoard.org boards.