diff --git a/depthai_descriptions/CMakeLists.txt b/depthai_descriptions/CMakeLists.txt
index 7ac41a95..d92e932f 100644
--- a/depthai_descriptions/CMakeLists.txt
+++ b/depthai_descriptions/CMakeLists.txt
@@ -15,4 +15,8 @@ install(DIRECTORY launch/ DESTINATION share/${PROJECT_NAME}/launch
         FILES_MATCHING PATTERN "*.py")
 install(DIRECTORY urdf DESTINATION share/${PROJECT_NAME})
 
+
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/${PROJECT_NAME}.sh.in")
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/${PROJECT_NAME}.dsv.in")
+
 ament_package()
diff --git a/depthai_descriptions/env-hooks/depthai_descriptions.dsv.in b/depthai_descriptions/env-hooks/depthai_descriptions.dsv.in
new file mode 100644
index 00000000..a3c3bb27
--- /dev/null
+++ b/depthai_descriptions/env-hooks/depthai_descriptions.dsv.in
@@ -0,0 +1,2 @@
+prepend-non-duplicate;GAZEBO_MODEL_PATH;share
+prepend-non-duplicate;GAZEBO_RESOURCE_PATH;share
diff --git a/depthai_descriptions/env-hooks/depthai_descriptions.sh.in b/depthai_descriptions/env-hooks/depthai_descriptions.sh.in
new file mode 100644
index 00000000..b0807523
--- /dev/null
+++ b/depthai_descriptions/env-hooks/depthai_descriptions.sh.in
@@ -0,0 +1,3 @@
+
+ament_prepend_unique_value GAZEBO_MODEL_PATH "$AMENT_CURRENT_PREFIX"
+ament_prepend_unique_value GAZEBO_RESOURCE_PATH "$AMENT_CURRENT_PREFIX"