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Just do: sudo ln -s /usr/lib/libmpfr.so.4 /usr/lib/libmpfr.so.1

This is a bug in the cross-compilation toolchain that occurs with ubuntu 11.04 and later. Never came across it before, because we are still using 10.04 and 10.10 here. This problem is supposed to be fixed in naoqi 1.12 but unfortunately there are some new issues (like missing log4cxx).