I had this same problem, but when running in a jupyter R notebook in an Anaconda environment.
The problem presented in such a way that any R notebook opened would instantly die and would not allow cell execution. The error would show up with each failed automated attempt to start the kernel:
Error in loadNamespace(j <- i[[1L]], c(lib.loc, .libPaths()), versionCheck = vI[[j]]) :
there is no package called ‘Rcpp’
To solve this, I ran as admin/sudo: conda install -c r r-rcpp
, restarted the kernel, and everything was back to normal.