ros cross-compile for gumstix?

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does anyone know of instructions on how to setup cross-compilation of ros packages for gumstix (or any ARM processor). I only see instructions on how to compile ROS itself. I am more interested in packages I can compile on a host computer (faster), so then I can just move the binary file into the gumstix and run it!

Note:both the host and the gumstix are running ubuntu, gumstix is already running gumros.

Thank you!