Updated on 5/18/2015: See this new post that has been updated for a Debian Jessie host, the latest BeagleBone Black sources and the latest stable eclipse packages.
I'm using Robert Nelson's debian wiki and Linaro and help from a few other sites (links are in the pdf).
Here is a google drive link to the shared pdf:
Update from Charles Hamilton's comment:
"on page 25 of the pdf, you have the BBB address as 192.168.2.7, and it should be 192.168.7.2."
Here is the end result showing the bbb_hellow_world.c debug session.