If anyone is interested. I have AdvMess working well on the Raspberry PI for the Coleco and other consoles. You can download it at:
http://www.intellivision.us/MESS.zip
Watch out for the emulator.cfg file in there as you would not want to overwrite one if you have one.
I prefer AdvMess over CoolCV as the video takes up more of the screen and it bypasses the title screen. Both controllers can be configured. I made a small modification to AdvMess to fix the controllers. I have also tested Odyssey, Bally Astrocade, 5200 (keypad works), and other consoles. Performance is great on a PI2. I have not tested it on a PI1. Below is the entry I have for the es_systems.cfg.
<system>
<name>colecovision</name>
<fullname>Colecovision</fullname>
<path>~/RetroPie/roms/colecovision</path>
<extension>.rom</extension>
<command>/opt/retropie/supplementary/runcommand/runcommand.sh 0 _SYS_ colecovision %ROM%</command>
<platform>colecovision</platform>
<theme>colecovision</theme>
</system>
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