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The instructions you linked are old. The current up-to-date cross-compilation instructions for ROS2 can be found here https://index.ros.org/doc/ros2/Tutorials/Cross-compilation/

However, both the old as well as the new ones, are meant for ARM64 platforms and they can't be directly used for RaspberryPi. There are several issues cross-compiling for RaspberryPi.

I have collected some instructions here (they should be easy to follow, in case let me know). https://github.com/alsora/cross_compile/tree/alsora/refactor_cross_compile

Your problem can be solved by installing in the sysroot the following package

sudo apt-get install -y libtinyxml2-dev

The instructions you linked are old. The current up-to-date cross-compilation instructions for ROS2 can be found here https://index.ros.org/doc/ros2/Tutorials/Cross-compilation/

However, both the old as well as the new ones, are meant for ARM64 platforms and they can't be directly used for RaspberryPi. There are several issues cross-compiling for RaspberryPi.

I have collected some instructions here (they should be easy to follow, in case let me know). https://github.com/alsora/cross_compile/tree/alsora/refactor_cross_compile

Your problem can be solved by installing in the sysroot the following package

sudo apt-get install -y libtinyxml2-dev

If the package is already installed, make sure that you are using a correct compiler (g++-6-arm-linux-gnueabihf is the one that works for me) and that you are providing the path to where the library is installed to the toolchain.