You need to get the JTAG headers, they are standard 10 pin headers
http://www.mouser.com/search/Product...P9tFOVoQ%3D%3D
is what we used and then purchase the JTAG programmer from TI that comes in the evaluation kit. I am having trouble locating it right now, but it comes with the programmer, an extra Jaguar, a motor and power supply. It is a little finicky to get it to successfully program the Jaguar from our experience, but well worth the investment. We bricked and reprogrammed at least 10 times last year and the time it saved us alone over an RMA was worth it. The biggest pain is you need to solder the header into the Jaguar as it does not come with one.
I really want to say that the kit is
http://search.digikey.com/scripts/Dk...ords=RDK-BDC24
but my memory is a little fuzzy on it.