Previous people have had the same error message, but the solution has always been to remove or modify some import \"android.R\". I have no such import so I\'m really lost
1) Where does your layout file exist? is it under layout folder then shouldn't it be
R.layout.activity_main
2) You still have to import your projects R file
com.example.mapssample.R;
3) R file is automatically generated if there's no error in your code. Sometimes when you get can't resolve R file error means you have problem somewhere else in the project. Try clean project. It might help.
4) You don't really need menu for testing this project. Also the activity_main file you showed is already included in the project and that's in layout folder. Just comment the menu part and see.