In this tutorial you will learn how to connect your Linux-based Sharp Zaurus SL-5500 to a Fedora Core PC with USB support (should work with the SL-5600 and newer kernels in the 2.4 series).
First... the following sites were quite useful:
Desktop: Should work with any PC with USB capabilities
PDA: Sharp Zaurus SL-5500
The Operating system:
Desktop: Fedora Linux Core 1, kernel: 2.4.22-1.2115.nptl. You should not have to do anything to the kernel unlike many previous versions (USB support is now native).
PDA: Sharp Zaurus ROM 2.38
(I have heard of version 3.10 having problems syncing with Linux, but have not tried it and cannot comment. Also, though I do think Open Zaurus is a great thing, I cannot comment on how to get it working with Fedora at this time.)