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RTOS for Starterware on a BeagleBone

I would like to use StarterWare to develop software for a Beagle Bone using a real time operating system, but don't know what my options are for the RTOS.  For example, can I use FreeRTOS?  My company employs IAR Embedded Workbench as the IDE on a Windows desktop.

Furthermore, if I use a third party RTOS, does this mean that Linux will be operating under the hood but I will not see it?  Would I not be simply configuring the RTOS via an API?  I don't want to deal with Linux directly if I don't have to.