The official build doesn't support armhf (the roborio is armel), but
someone posted very detailed instructions on how to build it for the Jetson TK1. You might even be able to get a prebuilt jar from them if you ask.
Communication between GRIP and your robot program is done with NetworkTables, so you should connect the TK1 with an ethernet cable.
There are instructions on how to access GRIP data from LabVIEW
on the GRIP wiki.