Cross Compilation for AGX Xavier and Jetson Nano from Ubuntu PC

Hi, I am a beginner in Jetson Environment. I get an AGX Xavier and a Jetson nano and I am trying to do cross compilation from a Ubuntu PC.
I installed Eclipse and the Nsight Plugins. I also installed the aarch64-g++ as the standard aarch64 compiler. My issue is that even for a “Hello World” project I have a compilation error. I tried to follow the tutorial of the Eclipse plugin but when I want to include the cuda include directory, I saw the in the folder /usr/local/cuda/targets, I have only a folder named x86_64-linux and no folder named aarch64-linux as described in this page: Nsight-Eclipse-Plugins-Guide 12.1 documentation.
The compilation error is: /usr/local/cuda/bin/crt/link.stub:26:10: fatal error: crt/host_defines.h : no such file or directory.
How should I solve such issue ?