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Adding in a dependency on class_loader shouldn't be required here, as tf2_ros does not directly depend on it. So I don't think that is the correct fix.
That said, it may be the case that something that tf2_ros deos depend on (for example, rclcpp_components) isn't properly exporting a dependency that it should be.
What version of ROS 2 are you trying to cross-compile?
Cross compilation
There is a problem
By adding the following files, you can proceed
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