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This is a known problem related to missing the Lisp interpreter on ARM.

I'm actively working on updated builds to fix this, but it requires patching the core ROS libraries and doing custom releases, so it's proceeding slowly. Hopefully I'll have something out by the end of the month.

In the meantime, you may be able to get around this by faking an installation of the sbcl package. It will be some work, but this looks like a good place to start; http://askubuntu.com/questions/18192/how-to-fake-a-package-version-installed