Fix to make sure that ROS2 can find the iCub package (#178)

.github/workflows/cxx-ci.yml

@@ -32,8 +32,9 @@ jobs:
       run: |
         # Workaround for https://github.com/conda-incubator/setup-miniconda/issues/186
         conda config --remove channels defaults
-        # Compilation related dependencies
-        mamba install cmake compilers make ninja pkg-config python
+        # Build and test dependencies (ROS packages to test that resouces are find correctly by ROS/ROS2)
+        # ros-noetic-catkin is required otherwised ROS_PACKAGE_PATH is not defined and rospack list does not return anything
+        mamba install -c conda-forge -c robostack -c robostack-humble cmake compilers make ninja pkg-config python ros-noetic-rospack ros-noetic-catkin ros-humble-ros2pkg
 
     - name: Print used environment [Conda]
       shell: bash -l {0}
@@ -63,6 +64,28 @@ jobs:
         cd build
         cmake --build . --config ${{ matrix.build_type }}
 
+    - name: Install [Conda]
+      shell: bash -l {0}
+      run: |
+        cd build
+        cmake --install . --config ${{ matrix.build_type }}
+
+    - name: Test ROS Package can be found [Conda/Linux&macOS]
+      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
+      shell: bash -l {0}
+      run: |
+        # Test ROS
+        rospack find iCub
+        # Test ROS2
+        ros2 pkg prefix iCub
+
+    - name: Test ROS Package can be found [Conda/Windows]
+      if: contains(matrix.os, 'windows')
+      shell: cmd /C CALL {0}
+      run: |
+        rospack find iCub
+        ros2 pkg prefix iCub
+
   build-with-system-dependencies:
     name: '[${{ matrix.os }}@${{ matrix.build_type }}]'
     runs-on: ${{ matrix.os }}

CHANGELOG.md

@@ -5,6 +5,9 @@ The format of this document is based on [Keep a Changelog](https://keepachangelo
 
 ## [Unreleased]
 
+### Fixed
+* Fix finding the `iCub` package in ROS2 (https://github.com/robotology/icub-models/pull/178).
+
 ## [1.25.0] - 2022-08-23
 
 ### Changed

CMakeLists.txt

@@ -178,6 +178,14 @@ string(REPLACE ";" "," INSTALLED_URDF_MODELS "${INSTALLED_URDF_MODELS}")
 # Install the whole iCub directory
 install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/iCub DESTINATION share)
 
+# Install empty iCub file in <prefix>/share/ament_index/resource_index/packages
+# so that iCub packages if found by ROS2
+# See https://github.com/robotology/icub-models/issues/177
+file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/iCub_empty_file "")
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/iCub_empty_file 
+        DESTINATION share/ament_index/resource_index/packages
+        RENAME iCub)
+
 add_subdirectory(cpp)
 add_subdirectory(python)