Crosscompiling ROS for Raspberry PI (ARM)

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Hello Everybody! I want to crosscompile ROS Packages for my Raspberry PI. I have an Ubuntu 14.04 with Indigo and Rasbian with Indigo. On my host system I've installed a toolchain and the boost libraries for arm and written a toolchain.cmake file. The normal crosscompiling is working (using a simple program with boost). Now my question is, how to realize the ROS part. My idea was just to copy the lib and the roscpp folder from the pi and replace it, but the PI says, that he can't execute the binary. Unfortunately the eros package is obsolete and I haven't found a description that worked for me.