Hi,
Yes, you should be fine with that emulator. Have a look here for more information
http://processors.wiki.ti.com/index.php/XDS200#Q:_What_devices_are_supported_by_XDS2xx.3F
There is a ccsv6 now which may interest you, however v5.5 should be fine for your development. What devices did you select when installing ccs? Not every family is installed by default. Also, are you sure you are creating ccs projects? Project->New CCS Project.
One thing you can do is run the ccs installer again into the same directory. If you select repair you can add davinci and c6000 support etc.
Best Regards,
Lisa