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 two short videos (registration required) highlighting:

System Workbench for STM32

Transfering example project (STM discovery wifi) from Kyle uVision to System Workbench for STM32


Your compilation log is fine.

I think that this problem is due to RL-ARM libraries because as I know they are available only for linking with Keil, correct me if I am wrong.

If I am not, you would need the RL-ARM library sources for that. Do you have them?
You should probably also check your licence terms regarding this. Maybe you will need to contact Keil support.