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You should be able to use rosserial_embeddedlinux directly on the Raspberry Pi.

I did not use it myself yet but you can either use a serial link or an IP link through TCP/IP.

See the tutorials: http://wiki.ros.org/rosserial_embeddedlinux/Tutorials

First, generate the header files for the messages with the make_libraries.py script on your Ubuntu computer, then copy them on the Raspberry Pi and build your rosserial node with CMake.

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