diff --git a/depthai_descriptions/env-hooks/depthai_descriptions.dsv.in b/depthai_descriptions/env-hooks/depthai_descriptions.dsv.in
index a3c3bb27..17b3b11c 100644
--- a/depthai_descriptions/env-hooks/depthai_descriptions.dsv.in
+++ b/depthai_descriptions/env-hooks/depthai_descriptions.dsv.in
@@ -1,2 +1,4 @@
 prepend-non-duplicate;GAZEBO_MODEL_PATH;share
 prepend-non-duplicate;GAZEBO_RESOURCE_PATH;share
+prepend-non-duplicate;IGN_GAZEBO_MODEL_PATH;share
+prepend-non-duplicate;IGN_GAZEBO_RESOURCE_PATH;share
diff --git a/depthai_descriptions/env-hooks/depthai_descriptions.sh.in b/depthai_descriptions/env-hooks/depthai_descriptions.sh.in
index b0807523..f8b034f2 100644
--- a/depthai_descriptions/env-hooks/depthai_descriptions.sh.in
+++ b/depthai_descriptions/env-hooks/depthai_descriptions.sh.in
@@ -1,3 +1,5 @@
 
 ament_prepend_unique_value GAZEBO_MODEL_PATH "$AMENT_CURRENT_PREFIX"
 ament_prepend_unique_value GAZEBO_RESOURCE_PATH "$AMENT_CURRENT_PREFIX"
+ament_prepend_unique_value IGN_GAZEBO_MODEL_PATH "$AMENT_CURRENT_PREFIX"
+ament_prepend_unique_value IGN_GAZEBO_RESOURCE_PATH "$AMENT_CURRENT_PREFIX"
diff --git a/depthai_descriptions/urdf/include/base_macro.urdf.xacro b/depthai_descriptions/urdf/include/base_macro.urdf.xacro
index e46e3bca..4fc1cbf9 100644
--- a/depthai_descriptions/urdf/include/base_macro.urdf.xacro
+++ b/depthai_descriptions/urdf/include/base_macro.urdf.xacro
@@ -21,7 +21,7 @@
             <visual>
                 <origin xyz="0 0 0" rpy="0 0 0"/>
                 <geometry>
-                    <mesh filename="package://depthai_descriptions/urdf/models/${model}.stl" />
+                    <mesh filename="file://$(find depthai_descriptions)/urdf/models/${model}.stl" />
                 </geometry>
                 <material name="mat">
                     <color rgba="${r} ${g} ${b} ${a}"/>