ok, my fault there was some leftover from the various tries:
mv /etc/network/interfaces /etc/network/interfaces.x
did the trick!
root@beaglebone:~# iwlist wlan0 scanning
wlan0 Scan completed :
Cell 01 - Address: C0:25:06:3B:CA:64
Channel:8
Frequency:2.447 GHz (Channel

Quality=39/70 Signal level=-71 dBm
...
[ 453.592805] rtl8192cu: Tx queue select: 0x05
[ 453.594126] rtl8192c_common: Loading firmware file rtlwifi/rtl8192cufw.bin
[ 454.120763] ADDRCONF(NETDEV_UP): wlan0: link is not ready
so, still no inet address:
root@beaglebone:~# iwconfig wlan0
wlan0 IEEE 802.11bgn ESSID:off/any
Mode:Managed Access Point: Not-Associated Tx-Power=20 dBm
Retry long limit:7 RTS thr=2347 B Fragment thr:off
Encryption key:off
Power Management:off
root@beaglebone:~# ifconfig wlan0
wlan0 Link encap:Ethernet HWaddr 00:9E:95:9B:5B:D9
UP BROADCAST MULTICAST MTU:1500 Metric:1
RX packets:0 errors:0 dropped:0 overruns:0 frame:0
TX packets:0 errors:0 dropped:0 overruns:0 carrier:0
collisions:0 txqueuelen:1000
RX bytes:0 (0.0 B) TX bytes:0 (0.0 B)
root@beaglebone:/usr/lib/connman/test# ./get-services
[ /net/connman/service/ethernet_505663c982e8_cable ]
IPv6.Configuration = { Method=auto Privacy=disabled }
...
IPv4.Configuration = { Method=dhcp }
[ /net/connman/service/wifi_...447487a_managed_psk ]
IPv6.Configuration = { Method=auto Privacy=disabled }
AutoConnect = false
Strength = 45
Name = champs des aulnes 2,4GHz
Nameservers = [ ]
Provider = { }
Favorite = false
Domains.Configuration = [ ]
State = idle
Proxy = { }
Nameservers.Configuration = [ ]
IPv4 = { }
IPv6 = { }
Domains = [ ]
Ethernet = { Interface=wlan0 Method=auto Address=00:9E:95:9B:5B:D9 }
Security = [ psk wps ]
Proxy.Configuration = { }
Type = wifi
Immutable = false
IPv4.Configuration = { Method=dhcp }
what is missing to get an IP-address via dhcp?