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Jeff's right, if you're investing a serious amount of work in small cpu's (year long project or more), you'll drink far too much coffee waiting for your compiling to complete. Growing a beard and cross compiling can save you a tremendous amount of time.
If you've a toolchain, then eros has cross-compiling tools and support for at least the core ros packages. Getting everything to work all the way out to pcl-land on ros may require some extra work (thats where you can do your bit for eros - patches and information are welcome!). It's definitely a nice target though, specially with the near future looking at running gpu'd pcl on arm+nvidia combination boards.
One area where eros is lacking at the moment is in information on how to roll your own filesystems/toolchains and we'll start looking at remedying that in the near future.
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