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You can cross compile python packages you need the necessary libraries. You can either:

1. Specify the libraries path to cmake to build this package. But you will have to cross compile them.
2. sshfs the filesystem of your OS running on the pi zero. Prior to that, get all the necessary libraries using apt-get. Specify CMAKE_SYSROOT variable
3. Mount your filesystem on your host, use qemu, use apt-get to have the necessary missing libs, install the filesystem on the pi zero.

You can cross compile python packages you need the necessary libraries. You can either:

1. Specify the libraries path to cmake to build this package. But you will have to cross compile them. Maybe by following https://github.com/Yadoms/yadoms/wiki/Cross-compile-for-raspberry-PI#python ?
2. sshfs the filesystem of your OS running on the pi zero. Prior to that, get all the necessary libraries using apt-get. Specify CMAKE_SYSROOT variablevariable and cross-compile ROS2.
3. Mount your filesystem on your host, use qemu, use apt-get to have the necessary missing libs, specify the CMAKE_SYSROOT, cross-compile ROS2, install the filesystem on the pi zero.zero. (https://unix.stackexchange.com/a/222981)