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And as usually happens, after asking I seem to found solution myself. Two things to be done:

Make new file /etc/dpkg/dpkg.cfg.d/multiarch containing one line only:

foreign-architecture armel
Add [arch=armel] into /etc/apt/sources.list.d/ros-latest.list like this:

deb [arch=armel] http://packages.ros.org/ros/ubuntu precise main

Now "apt-get update" was able to fetch all he needs.

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