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ar_track_alvar isn't available as a prebuilt binary for Ubuntu on ARM, according to the Hydro ARM status page. I don't remember exactly why it wasn't building, but I think it was due to a bug in ar_track_alvar or one of its direct dependencies; it shouldn't be too hard to fix.

The good thing is that there are binary builds of most of the core packages such as PCL, so you won't have to spend time trying to build those yourself. You can install ROS and most of the dependencies you'll need by following the ROS UbuntuARM Install Guide