To set the Foreground color, first be sure that the Paint style is selected for the top left Styles color swatch on the Color Palette.
If the swatch doesn't look like a solid color, then click and hold on the swatch to reveal the Styles flyout menu and then select the leftmost icon, which looks like a paintbrush.
When the top left Styles swatch looks like a solid color, click the swatch to open the Color dialog box. Then use the Color Picker to select the color you want (or click a tile in the Basic Colors panel if the color you want is one of the Basic Colors). Then click OK.