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Ok so I am answering my own question...

mkdir ~/any/directory/tinyxml2
cd ~/any/directory/tinyxml2
git clone https://github.com/leethomason/tinyxml2.git
cd ./tinyxml2
catkin_make -j1
nano ~/ros_catkin_ws/src/rospack/CMakeLists.txt

find include_directories and replace ${TinyXML2_INCLUDE_DIRS} with ~/any/directory/tinyxml2/tinyxml2/

cd ~/ros_catkin_ws
./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/melodic

Then rospack is starting to behave itself on armhf!

*instead of nano you can use any text editor to make the edit in CMakeLists.txt

Ok so I am answering my own question...

mkdir ~/any/directory/tinyxml2
cd ~/any/directory/tinyxml2
git clone https://github.com/leethomason/tinyxml2.git
cd ./tinyxml2
catkin_make make -j1
nano ~/ros_catkin_ws/src/rospack/CMakeLists.txt

find include_directories and replace ${TinyXML2_INCLUDE_DIRS} with ~/any/directory/tinyxml2/tinyxml2/

cd ~/ros_catkin_ws
./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/melodic

Then rospack is starting to behave itself on armhf!

*instead of nano you can use any text editor to make the edit in CMakeLists.txt