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Not that difficult, IF you know how...

I had a bit of trouble getting CentOS 5.5 working with XenServer Tools.

Here's what helped:

1. Install a Xen-enabled kernel in the VM and configure Grub to boot to it if necessary.
2. Power off the VM
3. At the XenServer CLI, get the VM UUID: xe vm-list name-label=<vm_name> --minimal
4. Get the VBD UUID for the VM's disk: xe vbd-list vm-uuid=<vm_uuid> --minimal
5. Set the VBD to be bootable: xe vbd-param-set uuid=<vbd_uuid> bootable="true"
6. Clear HVM-boot-policy on the VM: xe vm-param-clear uuid=<vm_uuid> param-name=HVM-boot-policy
7. Configure PV-bootloader on the VM: xe vm-param-set uuid=<vm_uuid> PV-bootloader="pygrub"
8. Configure PV-args on the VM: xe vm-param-set uuid=<vm_uuid> PV-args="graphical utf8"
9. Power on the VM

Source: http://forums.citrix.com/thread.jspa?messageID=1462667, at the bottom

However, after installing CentOS from the "Other Install Media" template, this short walk-through did not quite do the trick. Also, I should mention that I tried to install XenServer Tools in the not yet fully para-virtualised VM, before I found the aforementioned list.

So I also had to do this:

xe-edit-bootloader -u <vm_uuid> -p 1

That will open up nano with the VM's /boot/grub/menu.lst, where we have to do some minor changes.
Your menu.lst should look similar to this:

!!! default=0
timeout=5
splashimage=(hd0,0)/grub/splash.xpm.gz
hiddenmenu
title CentOS (2.6.18-128.1.10.el5.xs5.5.0.51xen)
        root (hd0,0)
        !!! kernel /vmlinuz-2.6.18-128.1.10.el5.xs5.5.0.51xen ro root=/dev/VolGroup00/LogVol00
        !!! initrd /initrd-2.6.18-128.1.10.el5.xs5.5.0.51xen.img
title CentOS (2.6.18-194.el5)
        root (hd0,0)
        kernel /vmlinuz-2.6.18-194.el5 ro root=/dev/VolGroup00/LogVol00
        initrd /initrd-2.6.18-194.el5.img

The lines marked with !!! have been modified (sorry, can't use formatting in this wiki without breaking the formatting in this snippet).

In my particular case, I had two kernel lines in the first section, and a module line. That of course can't work.

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