Cross compile some nodes for friendly arm mini2440

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Hi! I have a small robot build on friendly arm mini2440 which have Wireless LAN.Now I want to build some driver nodes on it so that it can communicate with roscore. And send some sensor data use some topics.And controlled by provide some services. Now, I am using my nodes on PC to communicate with the robot using TCP,and then get data and control robot. Can't I just build this nodes using ROS on my Ubuntu12.04, or I should cross compile the whole ROS using the cross compile tool chain, and then cross my nodes.