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If you're having trouble with linking against parts of the the core cross compile toolchain I suspect that you are missing some potential flags necessary in your cross compile toolchain. Your toolchain file is very short. The one that I've seen used the most is the android toolchain file. A quick search finds a copy here: https://github.com/taka-no-me/android-cmake/blob/master/android.toolchain.cmake which does a lot more.

Cross-compiling is not a common task and will not work out of the box since it needs to be targeted correctly requiring understanding and learning about the process.

Many people do use ROS on odroid. However instead of cross compiling they typically build on the device or an emulated device. You can install binary packages from apt: http://wiki.ros.org/jade/Installation/UbuntuARM for Jade as well as Indigo and compile your package on top of those binaries.