Adding only android-support-v7-appcompat.jar to library dependencies is not enough, you have also to import in your project the module that you can find in your SDK at the path \android-sdk\extras\android\support\v7\appcompatand after that add module dependencies configuring the project structure in this way
otherwise are included only the class files of support library and the app is not able to load the other resources causing the error.
In addition as reVerse suggested replace this
public CustomActionBarDrawerToggle(Activity mActivity,
DrawerLayout mDrawerLayout) {
super(mActivity, mDrawerLayout,new Toolbar(MyActivity.this) ,
R.string.ns_menu_open, R.string.ns_menu_close);
}
with
public CustomActionBarDrawerToggle(Activity mActivity,
DrawerLayout mDrawerLayout) {
super(mActivity, mDrawerLayout, R.string.ns_menu_open, R.string.ns_menu_close);
}