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It turns out that in order to fix it I needed to install the Qt win64_msvc2019_64 in C:\Qt. Then, set the variable:

set Qt5_DIR=C:\Qt\5.15.0\msvc2019_64

or set it permanently:

setx -m Qt5_DIR C:\Qt\5.15.0\msvc2019_64

Basically, follow the Building ROS 2 on Windows but only the "Install Qt5" section because the Qt win64_msvc2019_64 is not located in C:\dev\ros2_foxy

It turns out that in order to fix it I needed to install the Qt win64_msvc2019_64 in C:\Qt. Then, set the variable:

set Qt5_DIR=C:\Qt\5.15.0\msvc2019_64

or set it permanently:

setx -m Qt5_DIR C:\Qt\5.15.0\msvc2019_64

Basically, follow the Building ROS 2 on Windows but only the "Install Qt5" section because the there is no Qt win64_msvc2019_64 is not located in C:\dev\ros2_foxy