EJTAGproxy is open source project just released by Sergey Vakulenko at http://code.google.com/p/ejtagproxy/
It’s a command-line utility, which connects GDB to ICSP port of pic32 via pickit2 or pickit3 scripting edition. A standard GDB remote serial protocol is implemented. It also can be used with Eclipse, DDD, Insight or other compatible debuggers. All families of pic32 are supported, including mx1/mx2. The utility works on Linux, Windows and Mac OS X. Sources are available under BSD license.