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It looks like you might not have librt installed. It should be in libc6: https://packages.debian.org/jessie/libc6 https://packages.debian.org/search?arch=armhf&mode=exactfilename&searchon=contents&keywords=librt.so.1

Looks like a duplicate of: http://answers.ros.org/question/207608/error-while-cross-compiling-rospkg-for-arm/

related: http://answers.ros.org/question/66978/what-for-catkin-needs-to-link-to-librt-realtime-extension/

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