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Not all ROS packages are available in the ARM architectures. See the debbuild status page and look at the armel columns. Anything white is available.

Each stack needs to be verified and updated to be armel compatible. There are approximately 20 stacks which are building on armel at the moment.

One of the biggest limiting factors is that many of the system dependencies also are not released for the armel infrastructure. So beyond the core system you are going to need to build things from source. Patches are appreciated to extend the number of stacks supported on armel.