diff --git a/tesseract/tesseract_collision/CMakeLists.txt b/tesseract/tesseract_collision/CMakeLists.txt
index ecb89ec26d7..3b33286e67d 100644
--- a/tesseract/tesseract_collision/CMakeLists.txt
+++ b/tesseract/tesseract_collision/CMakeLists.txt
@@ -114,6 +114,11 @@ install(DIRECTORY include/${PROJECT_NAME}
 
 install(FILES package.xml DESTINATION share/${PROJECT_NAME})
 
+# Create an ament_index resource file to allow ROS2 ament_index_cpp to locate the installed path to this package.
+# This is a workaround to let the ROS2 version of pluginlib find tesseract_collision's plugins, since tesseract_collision is a non-ROS CMake package.
+# ADDITIONAL REQUIREMENT: The installed path must be added to the AMENT_PREFIX_PATH environment variable at runtime, which is outside the scope of CMakeLists.txt.
+file(WRITE ${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/packages/${PROJECT_NAME} "")
+
 # Create cmake config files
 include(CMakePackageConfigHelpers)
 configure_package_config_file(${CMAKE_CURRENT_LIST_DIR}/cmake/${PROJECT_NAME}-config.cmake.in