diff --git a/CMakeLists.txt b/CMakeLists.txt
index a9459e3..44e128c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -7,6 +7,6 @@ install(
   DIRECTORY meshes urdf
   DESTINATION share/${PROJECT_NAME}
 )
-
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/${PROJECT_NAME}.sh.in")
 ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
 ament_package()
\ No newline at end of file
diff --git a/env-hooks/ros_components_description.sh.in b/env-hooks/ros_components_description.sh.in
new file mode 100755
index 0000000..7c1fa5f
--- /dev/null
+++ b/env-hooks/ros_components_description.sh.in
@@ -0,0 +1,3 @@
+ament_prepend_unique_value GAZEBO_MODEL_PATH "@CMAKE_INSTALL_PREFIX@/share"
+ament_prepend_unique_value GZ_SIM_RESOURCE_PATH "@CMAKE_INSTALL_PREFIX@/share"
+ament_prepend_unique_value IGN_GAZEBO_RESOURCE_PATH "@CMAKE_INSTALL_PREFIX@/share"
\ No newline at end of file
diff --git a/urdf/intel_realsense_d435.urdf.xacro b/urdf/intel_realsense_d435.urdf.xacro
index 01aa5da..7ab292e 100644
--- a/urdf/intel_realsense_d435.urdf.xacro
+++ b/urdf/intel_realsense_d435.urdf.xacro
@@ -73,7 +73,7 @@
       <visual>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
         <geometry>
-          <mesh filename="file://$(find ros_components_description)/meshes/intel_realsense_d435.dae" />
+          <mesh filename="package://ros_components_description/meshes/intel_realsense_d435.dae" />
         </geometry>
       </visual>
       <collision>
diff --git a/urdf/orbbec_astra.urdf.xacro b/urdf/orbbec_astra.urdf.xacro
index 49768eb..cc88d07 100644
--- a/urdf/orbbec_astra.urdf.xacro
+++ b/urdf/orbbec_astra.urdf.xacro
@@ -23,7 +23,7 @@
       <visual>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
         <geometry>
-          <mesh filename="file://$(find ros_components_description)/meshes/orbbec_astra.dae" />
+          <mesh filename="package://ros_components_description/meshes/orbbec_astra.dae" />
         </geometry>
       </visual>
 
diff --git a/urdf/ouster_os1_32.urdf.xacro b/urdf/ouster_os1_32.urdf.xacro
index 525c217..d2c636c 100644
--- a/urdf/ouster_os1_32.urdf.xacro
+++ b/urdf/ouster_os1_32.urdf.xacro
@@ -34,7 +34,7 @@
       <visual>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
         <geometry>
-          <mesh filename="file://$(find ros_components_description)/meshes/ouster_os1_32.dae" />
+          <mesh filename="package://ros_components_description/meshes/ouster_os1_32.dae" />
         </geometry>
       </visual>
 
diff --git a/urdf/slamtec_rplidar_a2.urdf.xacro b/urdf/slamtec_rplidar_a2.urdf.xacro
index 007659f..ade7b04 100644
--- a/urdf/slamtec_rplidar_a2.urdf.xacro
+++ b/urdf/slamtec_rplidar_a2.urdf.xacro
@@ -70,7 +70,7 @@
       <visual>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
         <geometry>
-          <mesh filename="file://$(find ros_components_description)/meshes/${mesh}" />
+          <mesh filename="package://ros_components_description/meshes/${mesh}" />
         </geometry>
       </visual>
 
diff --git a/urdf/slamtec_rplidar_a3.urdf.xacro b/urdf/slamtec_rplidar_a3.urdf.xacro
index 9d378c3..d2bcfc9 100644
--- a/urdf/slamtec_rplidar_a3.urdf.xacro
+++ b/urdf/slamtec_rplidar_a3.urdf.xacro
@@ -45,7 +45,7 @@
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
         <geometry>
           <!-- slamtec_rplidar_ax.dae is used as a shared mesh for A2 and A3 rplidars -->
-          <mesh filename="file://$(find ros_components_description)/meshes/slamtec_rplidar_ax.dae" />
+          <mesh filename="package://ros_components_description/meshes/slamtec_rplidar_ax.dae" />
         </geometry>
       </visual>
 
diff --git a/urdf/slamtec_rplidar_s1.urdf.xacro b/urdf/slamtec_rplidar_s1.urdf.xacro
index f46d411..1041dde 100644
--- a/urdf/slamtec_rplidar_s1.urdf.xacro
+++ b/urdf/slamtec_rplidar_s1.urdf.xacro
@@ -44,7 +44,7 @@
       <visual>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
         <geometry>
-          <mesh filename="file://$(find ros_components_description)/meshes/slamtec_rplidar_s1.dae" />
+          <mesh filename="package://ros_components_description/meshes/slamtec_rplidar_s1.dae" />
         </geometry>
       </visual>
 
diff --git a/urdf/velodyne_puck.urdf.xacro b/urdf/velodyne_puck.urdf.xacro
index 4adea02..b26ed06 100644
--- a/urdf/velodyne_puck.urdf.xacro
+++ b/urdf/velodyne_puck.urdf.xacro
@@ -34,7 +34,7 @@
       <visual>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
         <geometry>
-          <mesh filename="file://$(find ros_components_description)/meshes/velodyne_puck.dae" />
+          <mesh filename="package://ros_components_description/meshes/velodyne_puck.dae" />
         </geometry>
       </visual>