The toolchain comes with the package manager opkg. You can install the same packages as on the target device with it. To do so, follow these steps:

1. Become root using su or sudo on your development computer
2. Edit the file /usr/local/angstrom/arm/arm-angstrom-linux-gnueabi/etc/opkg.conf. It should look like that:
   

   arch all 1
   arch any 6
   arch noarch 11
   arch arm 16
   arch armv4 21
   arch armv4t 26
   arch armv5te 31
   src/gz base http://www.angstrom-distribution.org/feeds/2008/ipk/glibc/armv5te/base
   src/gz debug http://www.angstrom-distribution.org/feeds/2008/ipk/glibc/armv5te/debug
   src/gz gstreamer http://www.angstrom-distribution.org/feeds/2008/ipk/glibc/armv5te/gstreamer
   src/gz no-arch http://www.angstrom-distribution.org/feeds/2008/ipk/glibc//all
   src/gz perl http://www.angstrom-distribution.org/feeds/2008/ipk/glibc/armv5te/perl
   src/gz python http://www.angstrom-distribution.org/feeds/2008/ipk/glibc/armv5te/python

   All other lines can be removed or commented.

3. Execute the command source /usr/local/angstrom/arm/environment-setup
4. You can now use the command opkg-target as on the target. So you first need to run opkg-target update and after that you can install the needed packages, most probably the -dev versions to get the header files.

From now on, every time you want to install a new package, repeat steps 1, 3 and 4.