Have you updated the Android SDK tools to 24.3.2? This seems to have caused the issue. Add following 4 lines to android-sdk-path/tools/ant/build.xml starting line 484 and hopefully it should solve.
<property name="aidl" location="${android.build.tools.dir}/aidl${exe}" />
<property name="aapt" location="${android.build.tools.dir}/aapt${exe}" />
<property name="dx" location="${android.build.tools.dir}/dx${bat}" />
<property name="zipalign" location="${android.build.tools.dir}/zipalign${exe}" />