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We have compilation instructions for that example using CMake here:

https://ignitionrobotics.org/api/rendering/5.1/simple_demo.html

It looks like you may not have sourced your Ignition installation? Did you source install/setup.sh from your Ignition colcon workspace?

Preferably with the colcon build manner of building.

I just tried here, and if you have all dependencies correctly installed and sourced, running colcon build inside examples/simple_demo works 👍