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

run error(create script failure: fail to retrieve target)

I had the exact same problem on my STM32F072B Disco board. I was able to solve this by first building the project, then simply deleting the 32F072BDISCOVERY.xml file. Upon re-running the debug, it seemed to work fine.
It is worth noting that I was able to debug my board when just making a normal C project without going through CubeMx prior to these steps.