diff --git a/src/modules/uxrce_dds_client/CMakeLists.txt b/src/modules/uxrce_dds_client/CMakeLists.txt
index 783fac8c0f..800d33cc42 100644
--- a/src/modules/uxrce_dds_client/CMakeLists.txt
+++ b/src/modules/uxrce_dds_client/CMakeLists.txt
@@ -75,6 +75,42 @@ else()
 		file(TO_CMAKE_PATH "${microxrceddsclient_make_program}" microxrceddsclient_make_program)
 	endif()
 
+	# On Windows / MSVC, force the libmicroxrceddsclient sub-build (and the
+	# nested microcdr/uclient ExternalProjects it spawns via SuperBuild.cmake)
+	# to use NMake Makefiles instead of inheriting the parent's Ninja
+	# generator. The Micro-XRCE-DDS-Client SuperBuild nests ExternalProjects
+	# three deep (libmicroxrceddsclient_project -> microcdr -> uclient); when
+	# all three layers run Ninja concurrently, the inner cmake's
+	# `ninja -t recompact` and `ninja -t restat build.ninja` steps race the
+	# outer ninja that still holds microcdr-build/build.ninja open, producing
+	# `ninja: error: failed recompaction: Permission denied` deterministically
+	# on Windows where files cannot be replaced while another process has a
+	# handle on them. Switching the sub-build to NMake side-steps the lock
+	# collision entirely; nmake.exe ships with the MSVC BuildTools and is on
+	# PATH after vcvars64. The microcdr/uclient compile is small enough that
+	# the loss of Ninja's parallelism is not measurable in the overall build.
+	set(microxrceddsclient_extra_args)
+	if(WIN32 AND NOT MINGW)
+		find_program(microxrceddsclient_nmake_program nmake)
+		if(microxrceddsclient_nmake_program)
+			file(TO_CMAKE_PATH "${microxrceddsclient_nmake_program}"
+				microxrceddsclient_make_program)
+			list(APPEND microxrceddsclient_extra_args
+				CMAKE_GENERATOR "NMake Makefiles")
+		else()
+			# Without nmake we can't switch generators; fall through to the
+			# parent's Ninja generator and warn so the developer sees why
+			# the inner build may flake on `failed recompaction`.
+			message(WARNING
+				"uxrce_dds_client: nmake not found on PATH; the "
+				"libmicroxrceddsclient sub-build will inherit the parent "
+				"Ninja generator and may hit "
+				"'ninja: error: failed recompaction: Permission denied'. "
+				"Run from a Visual Studio Developer Command Prompt "
+				"(vcvars64) so nmake.exe is available.")
+		endif()
+	endif()
+
 	set(microxrceddsclient_library ${CMAKE_CURRENT_BINARY_DIR}/${lib_dir}/${CMAKE_STATIC_LIBRARY_PREFIX}microxrcedds_client${CMAKE_STATIC_LIBRARY_SUFFIX})
 	set(microcdr_library ${CMAKE_CURRENT_BINARY_DIR}/${lib_dir}/${CMAKE_STATIC_LIBRARY_PREFIX}microcdr${CMAKE_STATIC_LIBRARY_SUFFIX})
 
@@ -84,6 +120,7 @@ else()
 		PREFIX      ${microxrceddsclient_build_dir}
 		SOURCE_DIR  ${microxrceddsclient_src_dir}
 		INSTALL_DIR ${CMAKE_CURRENT_BINARY_DIR}
+		${microxrceddsclient_extra_args}
 		CMAKE_CACHE_ARGS
 			-DCMAKE_CXX_COMPILER:FILEPATH=${CMAKE_CXX_COMPILER}
 			-DCMAKE_C_COMPILER:FILEPATH=${CMAKE_C_COMPILER}