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I have seen in Jira blogs how roadmaps can be configured to show icons for different initiatives helping to break up the roadmap sections and make them easier to visually scan. I can't seem to make it work. No help articles in KB that I can find.
I think what you might be referring to is grouping issues on the roadmap by project. This can be done by going to view settings -> group by project.
You can change the icon for a project under the project's settings next to "avatar".