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For the RPi you can setup a chroot image with debootstrap and qemu, assuming you are using Debian or Ubuntu, and ROS Groovy on the RPi, you can follow the instructions on the following page: http://superpiadventures.com/2012/07/development-environment/

Then when you are inside the chroot, I would recommend you install ros-groovy-ros following the instructions available on the wiki: http://www.ros.org/wiki/groovy/Installation/Raspbian as well as build-essential, you should then have all you need to build packages for your RPi.

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