Add colcon install bin dir to PATH to workaround ament_cmake issue (#27)

Fix #26

Signed-off-by: Thomas Moulard <tmoulard@amazon.com>

lib/action-ros2-ci.js

@@ -74,6 +74,20 @@ EOF`], options);
             if (colconMixinName !== "") {
                 extra_options.concat(["--mixin", colconMixinName]);
             }
+            // Add the future install bin directory to PATH.
+            // This enables cmake find_package to find packages installed in the
+            // colcon install directory, even if local_setup.sh has not been sourced.
+            //
+            // From the find_package doc:
+            // https://cmake.org/cmake/help/latest/command/find_package.html
+            //   5. Search the standard system environment variables.
+            //   Path entries ending in /bin or /sbin are automatically converted to
+            //   their parent directories:
+            //   PATH
+            //
+            // ament_cmake should handle this automatically, but we are seeing cases
+            // where this does not happen. See issue #26 for relevant CI logs.
+            core.addPath(path.join(ros2WorkspaceDir, "install", "bin"));
             yield exec.exec("colcon", ["build", "--event-handlers", "console_cohesion+", "--packages-up-to",
                 packageName, "--symlink-install"].concat(extra_options), options);
             yield exec.exec("colcon", ["test", "--event-handlers", "console_cohesion+", "--pytest-args",

src/action-ros2-ci.ts

@@ -79,6 +79,22 @@ EOF`], options);
     if (colconMixinName !== "") {
       extra_options.concat(["--mixin", colconMixinName]);
     }
+
+    // Add the future install bin directory to PATH.
+    // This enables cmake find_package to find packages installed in the
+    // colcon install directory, even if local_setup.sh has not been sourced.
+    //
+    // From the find_package doc:
+    // https://cmake.org/cmake/help/latest/command/find_package.html
+    //   5. Search the standard system environment variables.
+    //   Path entries ending in /bin or /sbin are automatically converted to
+    //   their parent directories:
+    //   PATH
+    //
+    // ament_cmake should handle this automatically, but we are seeing cases
+    // where this does not happen. See issue #26 for relevant CI logs.
+    core.addPath(path.join(ros2WorkspaceDir, "install", "bin"));
+
     await exec.exec(
         "colcon",
         ["build", "--event-handlers", "console_cohesion+", "--packages-up-to",