I had this exact problem (nearly two years later!) using OSX and the Pocket Beagle, which out of the box is limited to just USB for networking. For posterity here's a simple solution.
OSX internet sharing (System Preferences > Sharing) creates a network 192.168.2.0/24 with DHCP server. Using the Pocket Beagle with the Bela or BeagleBone default network configuration will not work since the USB network (usb0) is configured to a static IP of 192.168.7.2. A solution is to configure the PB to use DCHP to obtain an address dynamically from the OSX host.
Plug in the PB and enable Internet Sharing on the OSX computer. Enabling internet sharing will interrupt the existing IPv4 configuration and so you will no longer be able to reach the Bela over 192.168.7.2
Even though there is no IPv4 network connection, bela.local is advertising it's IPv6 address. We can still SSH to the PB using bela.local:
Now to disable the static IP and enable DHCP. Edit /etc/network/interfaces
Comment out the usb0 static config IP from /etc/network/interfaces, and add the line iface usb0 inet dhcp saving and exiting Pico once you're done (control -X). It should look like this:
iface usb0 inet dhcp
# iface usb0 inet static
# address 192.168.7.2
# netmask 255.255.255.0
# network 192.168.7.0
Last step, restart the networking service:
systemctl restart networking.service
(If you saw any problems there, see what
systemctl status networking.service has to say.)
As the IPv4 address will be dynamic, and depend on the OSX configuration which we shouldn't need to care about, you will not be able to use 192.168.7.2 to access the Bela IDE any longer.
Instead we can use the hostname from now on: