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I found a quick fix solution by adding

set(PATH_POCO_LIB "${CMAKE_BINARY_DIR}/poco_vendor/poco_external_project_install/lib/")
set(PATH_YAML_LIB "${CMAKE_BINARY_DIR}/libyaml_vendor/libyaml_install/lib/")
set(CMAKE_BUILD_RPATH "${PATH_POCO_LIB};${PATH_YAML_LIB}")

at the end of the toolchain file to specify the path to the missing libraries.

I found a quick fix solution by adding

set(PATH_POCO_LIB "${CMAKE_BINARY_DIR}/poco_vendor/poco_external_project_install/lib/")
"${CMAKE_CURRENT_LIST_DIR}/poco_vendor/poco_external_project_install/lib/")
set(PATH_YAML_LIB "${CMAKE_BINARY_DIR}/libyaml_vendor/libyaml_install/lib/")
"${CMAKE_CURRENT_LIST_DIR}/libyaml_vendor/libyaml_install/lib/")
set(CMAKE_BUILD_RPATH "${PATH_POCO_LIB};${PATH_YAML_LIB}")

at the end of the toolchain file to specify the path to the missing libraries.

I found a quick fix solution by adding

set(PATH_POCO_LIB "${CMAKE_CURRENT_LIST_DIR}/poco_vendor/poco_external_project_install/lib/")
"${CMAKE_CURRENT_LIST_DIR}/build/poco_vendor/poco_external_project_install/lib/")
set(PATH_YAML_LIB "${CMAKE_CURRENT_LIST_DIR}/libyaml_vendor/libyaml_install/lib/")
"${CMAKE_CURRENT_LIST_DIR}/build/libyaml_vendor/libyaml_install/lib/")
set(CMAKE_BUILD_RPATH "${PATH_POCO_LIB};${PATH_YAML_LIB}")

at the end of the toolchain file to specify the path to the missing libraries.