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ROS has been used by others on a rasberry pi. You still need an operating system to run ROS on it, e.g. Linux. There are ROS libraries for android handheld devices, which you can use to steer a robot using a touch screen. Follow the discussions on ros-users as well:

http://ros-users.122217.n3.nabble.com/Use-cases-for-ROS-on-ARM-based-computers-td4019300.html

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