I think the XDK IDE has a keyboard example... but I'm not completely sure, maybe someone else has been using it already, I did not.
Also, I think you are not going to be able to use any keyboard connected to Galileo USB with putty/some telnet or serial connection.
Please elaborate on the general configuration and development environment you are planning with Galileo, maybe with more information someone will be able to help.
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You need to include the HID driver when building the image in order to be able to use a keyboard on Galileo. The reason why you can use it while on boot can be found in: http://www.linux-usb.org/USB-guide/x194.html, "There are several BIOS available where the BIOS can provide USB support from a keyboard plugged into the root hub on the motherboard". Even though the BIOS adds support for keyboard you also need to add it for the OS, as mentioned in that document.
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Sure, I'd suggest you to first build the default image in order to make the rest of the process faster. In order to build the image you will have to follow the BSP's Build and Software User Guide (https://downloadcenter.intel.com/download/23197/Intel-Quark-BSP).
Once the image is built, you can add additional features through menuconfig, in order to use menuconfig, you have to run the following commands on the BSP's main directory:
bitbake linux-yocto-quark -c menuconfig
Then you can search for the keyboard drivers available within the tool. After you’ve done the modifications required, you will have to change the defconfig file for the one you are going to use when building the image. If you'd like to learn more about how to use menuconfig, I'd suggest you to read Yocto's Mega Manual (http://www.yoctoproject.org/docs/1.7.2/kernel-dev/kernel-dev.html).