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On older versions of Ubuntu, SBCL is not available as a package.
ROS uses the package manager (apt) to detect and install dependencies.
Since you've installed SBCL outside of the package manager, rosdep isn't aware that SBCL is installed. I believe rosdep has an option to skip specific keys; you should consult the help options for rosdep, add the option to skip the sbcl key, and continue with your installation.
If your specific version of Ubuntu is supported by the UbuntuARM packages, you should use those instead; you will save a significant amount of time installing and compiling things, and the dependency issues have already been figured out and supplied for you. (in the case of SBCL on older versions of Ubuntu, I patched ROS to remove the lisp bindings and the dependency on SBCL completely).
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