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This page has a number of Ubuntu images for the Wandboard: http://www.armhf.com/download/ - It should be relatively easy to follow the UbuntuARM instructions and get ROS up and running on top of one of those within a few hours.

This thread on the Wandboard mailing list has a few more suggestions about Ubuntu images to try.

Note that there are only builds of ROS for armhf - all of the recent ARM chips have hard-float support and armel was too slow to do anything interesting, so it has been phased out.

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