Here at the Orlando Regionals while waiting in the pits for our robot to start working, I ported mjpg-streamer to the roboRIO. It was pretty funky since the source doesn’t lend itself to cross-compilation. So, the answer? Compile it on a Beaglebone Black running Angstrom and copy the files over.
Then, untar the mjpg-streamer code and run it ala the instructions.