Yocto SDK Manual: https://www.yoctoproject.org/docs/2.1/sdk-manual/sdk-manual.html

Yocto SDKs: https://www.youtube.com/watch?v=u1rzYRz83kc&t=1277s

Yocto C++ development: https://www.youtube.com/watch?v=NmPta5w6P70

To build the SDK for an image append -c populate_sdk to the bitbake build command.

For example, to build the SDK for the NTB dev image ntb-dev-image run bitbake ntb-dev-image -c populate_sdk

For more information check the Toradex guide .