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-rdynamic appears to be added by CMake automatically on Linux. For example, http://www.cmake.org/pipermail/cmake/2009-October/032948.html .
I don't think rosmake has very good support for cross-compiling right now (I've never actually tried it though), so it doesn't surprise me if it's picking up flags that are inappropriate for Arduino (by assuming that the target is a Linux system).
You may want to look at http://www.ros.org/wiki/eros . There are resources there for how to cross-compile ROS packages (but I believe they are still targeting embedded Linux systems, not Arduinos).
rosserial, specifically rosserial_arduino, may have some resources for compiling ROS packages for Arduino that you could build on/reference.
The new catkin build system should also have better support for cross-compiling, however catkin isn't scheduled for full release until at least ROS Groovy.
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