To setup the python support, I used an already created ubuntu-base:
http://cdimage.ubuntu.com/ubuntu-base/releases/16.04/release/ubuntu-base-16.04.1-base-arm64.tar.gz
And then I installed the needed packages using chroot + qemu-aarch64-static
In the toolchain file I used the variable CMAKE_SYSROOT to specify the path of my rootfs to ament/cmake and compile.
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