ament_cmake not found when using Ninja generator and Android toolchain on Windows

Usage
,
1

When attempting to build a ros2 cpp application that include the following the CMakeLists.txt file (generated by ros2 sample script ros2 pkg create --build-type ament_cmake <package_name>):

cmake_minimum_required(VERSION 3.5)
project(my_cpp_pkg)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()

After running this command:

cmake -DCMAKE_TOOLCHAIN_FILE=D:\workspace\android.toolchain.cmake -G Ninja ..

With the following toolchain file:

set (CMAKE_SYSTEM_NAME Android)
set (CMAKE_SYSTEM_VERSION 31) # Android SDK API version
set (CMAKE_ANDROID_API 31) # Android SDK API version
set (CMAKE_ANDROID_NDK "D:/Android/Sdk/ndk/25.1.8937393")
set (CMAKE_ANDROID_ARCH_ABI x86_64)

I receive the following error, even after I sourced my ros2 installation on Windows (i.e. call D:\dev\ros2_humble\install\local_setup.bat):

-- The C compiler identification is MSVC 19.29.30146.0
-- The CXX compiler identification is MSVC 19.29.30146.0
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: C:/Program Files (x86)/Microsoft Visual Studio/2019/Professional/VC/Tools/MSVC/14.29.30133/bin/Hostx64/x64/cl.exe - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: C:/Program Files (x86)/Microsoft Visual Studio/2019/Professional/VC/Tools/MSVC/14.29.30133/bin/Hostx64/x64/cl.exe - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
CMake Error at CMakeLists.txt:19 (find_package):
  By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "ament_cmake", but CMake did not find one.

  Could not find a package configuration file provided by "ament_cmake" with
  any of the following names:

    ament_cmakeConfig.cmake
    ament_cmake-config.cmake

  Add the installation prefix of "ament_cmake" to CMAKE_PREFIX_PATH or set
  "ament_cmake_DIR" to a directory containing one of the above files.  If
  "ament_cmake" provides a separate development package or SDK, be sure it
  has been installed.


-- Configuring incomplete, errors occurred!
See also "D:/my_cpp_pkg/bin_ninja/CMakeFiles/CMakeOutput.log".
2

This is more a ros2 specific question than CMake.
The message says, that the package ament_cmake could not be found.
That module seems to be part of ros2, so you probably need to install ros2 correctly. Or add the search path manually somehow which is hopefully described in their docs.