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SW4STM32 and SW4Linux fully supports the STM32MP1 asymmetric multicore Cortex/A7+M4 MPUs

   With System Workbench for Linux, Embedded Linux on the STM32MP1 family of MPUs from ST was never as simple to build and maintain, even for newcomers in the Linux world. And, if you install System Workbench for Linux in System Workbench for STM32 you can seamlessly develop and debug asymmetric applications running partly on Linux, partly on the Cortex-M4.
You can get more information from the ac6-tools website and download (registration required) various documents highlighting:

System Workbench for STM32


Linux + stm32f429i-DISC0 failed to debug

Hello, I really do not know, who is responsible for this bug, and maybe something was wrong during the installation... Anyway, I got the same issue and it is caused due to udev rules - your user have not permissions to work with usb device with this ID (st-link). You need to add udev rules for you device.
What you need to do:

$sudo cp /path_to_your_SystemWorkbench/plugins/fr.ac6.mcu.externaltools.openocd.linux64_1.7.0.201602121841/tools/openocd/share/openocd/contrib/99-openocd.rules /etc/udev/rules.d/
$sudo udevadm control --reload-rules

Hope, this will help