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First, create a directory for your icons, then copy the application icon to the directory

sudo mkdir /usr/local/share/icons -p
sudo cp ros.png /usr/local/share/icons/

After that we need to create a .desktop file:

sudo mkdir /usr/local/share/applications/ -p
sudo gedit /usr/local/share/applications/ros_fanuc_m10ia_support.desktop

Make sure to have ros-indigo-fanuc package installed for this example;

[Desktop Entry]
Name=Fanuc M10iA support
Comment=ROS - Fanuc M10iA support
Exec=bash -c "source /opt/ros/indigo/setup.bash && roslaunch fanuc_m10ia_support test_m10ia.launch"
Icon=/usr/local/share/icons/ros.png
Type=Application
Categories=ROS;
StartupNotify=true

Once this is done, use the Unity launcher and search for fanuc:

Click to launch the application:

You can also pin the application the launch bar like any other application:

First, create a directory for your icons, then copy the application icon to the directory

sudo mkdir /usr/local/share/icons -p
sudo cp ros.png /usr/local/share/icons/

After that we need to create a .desktop file:

sudo mkdir /usr/local/share/applications/ -p
sudo gedit /usr/local/share/applications/ros_fanuc_m10ia_support.desktop

Make sure to have ros-indigo-fanuc package installed for this example;

[Desktop Entry]
Name=Fanuc M10iA support
Comment=ROS - Fanuc M10iA support
Exec=bash -c "source /opt/ros/indigo/setup.bash && roslaunch fanuc_m10ia_support test_m10ia.launch"
Icon=/usr/local/share/icons/ros.png
Type=Application
Categories=ROS;
StartupNotify=true

Once this is done, use the Unity launcher and search for fanuc:

Click to launch the application:

You can also pin the application the launch bar like any other application:

First, create a directory for your icons, then copy the application icon to the directorydirectory:

sudo mkdir /usr/local/share/icons -p
sudo cp ros.png /usr/local/share/icons/

After that we need to create a .desktop file:

sudo mkdir /usr/local/share/applications/ -p
sudo gedit /usr/local/share/applications/ros_fanuc_m10ia_support.desktop

Make sure to have ros-indigo-fanuc package installed for this example;example:

[Desktop Entry]
Name=Fanuc M10iA support
Comment=ROS - Fanuc M10iA support
Exec=bash -c "source /opt/ros/indigo/setup.bash && roslaunch fanuc_m10ia_support test_m10ia.launch"
Icon=/usr/local/share/icons/ros.png
Type=Application
Categories=ROS;
StartupNotify=true

Once this is done, use the Unity launcher and search for fanuc:

Click to launch the application:

You can also pin the application in the launch bar like any other application:

Oh Of course, this process would be ideally incorporated to the install target of your CMake script. This way the launcher would be automatically created at the application installation.

First, create a directory for your icons, then copy the application icon to the directory:

sudo mkdir /usr/local/share/icons -p
sudo cp ros.png /usr/local/share/icons/

After that we need to create a .desktop file:

sudo mkdir /usr/local/share/applications/ -p
sudo gedit /usr/local/share/applications/ros_fanuc_m10ia_support.desktop

Make sure to have ros-indigo-fanuc package installed for this example:

[Desktop Entry]
Name=Fanuc M10iA support
Comment=ROS - Fanuc M10iA support
Exec=bash -c "source /opt/ros/indigo/setup.bash && roslaunch fanuc_m10ia_support test_m10ia.launch"
Icon=/usr/local/share/icons/ros.png
Type=Application
Categories=ROS;
StartupNotify=true

Once this is done, use the Unity launcher and search for fanuc:

Click to launch the application:

You can also pin the application in the launch bar like any other application:

Of course, this process would be ideally incorporated to the install target of your CMake script. This way the launcher would be automatically created at the application installation.

UPDATE

Check this repository for a complete example including automatic desktop/icon file install : https://gitlab.com/InstitutMaupertuis/ros_desktop_launcher_test

First, create a directory for your icons, then copy the application icon to the directory:

sudo mkdir /usr/local/share/icons -p
sudo cp ros.png /usr/local/share/icons/

After that we need to create a .desktop file:

sudo mkdir /usr/local/share/applications/ -p
sudo gedit /usr/local/share/applications/ros_fanuc_m10ia_support.desktop

Make sure to have ros-indigo-fanuc package installed for this example:

[Desktop Entry]
Name=Fanuc M10iA support
Comment=ROS - Fanuc M10iA support
Exec=bash -c "source /opt/ros/indigo/setup.bash && roslaunch fanuc_m10ia_support test_m10ia.launch"
Icon=/usr/local/share/icons/ros.png
Type=Application
Categories=ROS;
StartupNotify=true

Once this is done, use the Unity launcher and search for fanuc:

Click to launch the application:

You can also pin the application in the launch bar like any other application:

Of course, this process would be ideally incorporated to the install target of your CMake script. This way the launcher would be automatically created at the application installation.