GT.M does not currently support ARM processors.
This looks like an issue which was fixed in GT.M 6.3-010. http://tinco.pair.com/bhaskar/gtm/doc/articles/GTM_V6.3-010_Release_Notes.html#GTM-9190 Note that 6.1 is over ten years old, so it isn't surprising that it doesn't work well with much more modern operating system releases.
You have the 32-bit GT.M release; you want the 64-bit one, with x8664 instead of i586.
You have the 32-bit GT.M release; you want the 64-bit one, with x8684 instead of i586.
No, the server should be fine. You can get (a somewhat older version of) GT.M from the Ubuntu package manager as fis-gtm, which will take care of all the required runtime dependencies.
You need "devel" packages for these. So libicu-devel, libconfig-devel, and gpgme-devel.
Recent GT.M binary releases are built for RHEL 7, so for older releases like CentOS 6 you'll have to build it from source.
I'm not familiar with the details of RHCS, but GT.M requires high-performance shared...