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Alternatively, you could set the ROS_BOOST_ROOT and ROS_BOOST_VERSION environment variables:

// for naoqi 1.10.xx
export ROS_BOOST_ROOT="${CTC_DIR}/staging/geode-linux/usr"    
export ROS_BOOST_VERSION="1.38.0"

// for naoqi 1.12
export ROS_BOOST_ROOT="${CTC_DIR}/sysroot/usr"
export ROS_BOOST_VERSION="1.45.0"

Make sure that the version variable matches the boost library version in your cross-compilation toolchain and that

rosboost-cfg --lib_dir

actually returns the correct directory containing the boost libraries.