This page tells how to build the OLPC (One Laptop Per Child) version of Open Firmware. This is the version of OFW that is normally shipped on that machine. You can get precompiled ROMs from http://dev.laptop.org/pub/firmware , so you only need to recompile from source if you want to change something. See http://wiki.laptop.org/go/Firmware for version history.
Get the Open Firmware source:
svn co svn://openfirmware.info/openfirmware
Build OFW:
cd openfirmware/cpu/x86/pc/olpc/build make
The last line of the compilation output should say something like:
--- Saving as q2e24.rom
That tells you the name of the output file. You can install it in your OLPC XO computer by copying that file to a USB FLASH key, inserting the key into the XO, and typing on the XO:
ok flash u:\q2e24.rom