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I don't have a RPi to test on ATM, but looks like the issue is qt_qui_cpp failed to compile and so the majority of downstream dependencies were not build. Similar to building on Ubuntu 16.04, try adding a package ignore flag (--packages-ignore qt_gui_cpp rqt_gui_cpp) to the colon build command:

colcon build \
   --symlink-install \
   --packages-ignore qt_gui_cpp rqt_gui_cpp \
   --cmake-force-configure \
   --cmake-args \
     --no-warn-unused-cli \
     -DCMAKE_TOOLCHAIN_FILE=`pwd`/aarch64_toolchainfile.cmake \
     -DTHIRDPARTY=ON \
     -DBUILD_TESTING:BOOL=OFF \
     -DCMAKE_BUILD_RPATH="`pwd`/build/poco_vendor/poco_external_project_install/lib/;`pwd`/build/libyaml_vendor/libyaml_install/lib/"