diff --git a/iiwa_description/CMakeLists.txt b/iiwa_description/CMakeLists.txt
index 6d21ed0..2b5f32c 100644
--- a/iiwa_description/CMakeLists.txt
+++ b/iiwa_description/CMakeLists.txt
@@ -32,4 +32,6 @@ install(
   DESTINATION share/${PROJECT_NAME}
 )
 
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/${PROJECT_NAME}.sh.in")
+
 ament_package()
diff --git a/iiwa_description/env-hooks/iiwa_description.sh.in b/iiwa_description/env-hooks/iiwa_description.sh.in
new file mode 100644
index 0000000..f080d2f
--- /dev/null
+++ b/iiwa_description/env-hooks/iiwa_description.sh.in
@@ -0,0 +1,7 @@
+# Gazebo classic
+ament_prepend_unique_value GAZEBO_MODEL_PATH "$COLCON_CURRENT_PREFIX/share/@PROJECT_NAME@/meshes"
+ament_prepend_unique_value GAZEBO_RESOURCE_PATH "$COLCON_CURRENT_PREFIX/share/@PROJECT_NAME@/meshes"
+
+# Gazebo ignition and forward
+ament_prepend_unique_value IGN_GAZEBO_RESOURCE_PATH "$COLCON_CURRENT_PREFIX/share/@PROJECT_NAME@/meshes"
+ament_prepend_unique_value GZ_SIM_RESOURCE_PATH "$COLCON_CURRENT_PREFIX/share/@PROJECT_NAME@/meshes"
diff --git a/iiwa_description/urdf/iiwa.urdf.xacro b/iiwa_description/urdf/iiwa.urdf.xacro
index acbe0d1..4a21523 100644
--- a/iiwa_description/urdf/iiwa.urdf.xacro
+++ b/iiwa_description/urdf/iiwa.urdf.xacro
@@ -25,13 +25,13 @@
       <visual>
         <origin rpy="0.0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/visual/base_link.dae"/>
+          <mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/visual/base_link.dae"/>
         </geometry>
       </visual>
       <collision>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/collision/base_link.stl"/>
+          <mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/collision/base_link.stl"/>
         </geometry>
       </collision>
       <inertial>
@@ -44,13 +44,13 @@
       <visual>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_1.dae"/>
+          <mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/visual/link_1.dae"/>
         </geometry>
       </visual>
       <collision>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_1.stl"/>
+          <mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/collision/link_1.stl"/>
         </geometry>
       </collision>
       <inertial>
@@ -63,13 +63,13 @@
       <visual>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_2.dae"/>
+          <mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/visual/link_2.dae"/>
         </geometry>
       </visual>
       <collision>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_2.stl"/>
+          <mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/collision/link_2.stl"/>
         </geometry>
       </collision>
       <inertial>
@@ -82,13 +82,13 @@
       <visual>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_3.dae"/>
+          <mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/visual/link_3.dae"/>
         </geometry>
       </visual>
       <collision>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_3.stl"/>
+          <mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/collision/link_3.stl"/>
         </geometry>
       </collision>
       <inertial>
@@ -101,13 +101,13 @@
       <visual>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_4.dae"/>
+          <mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/visual/link_4.dae"/>
         </geometry>
       </visual>
       <collision>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_4.stl"/>
+          <mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/collision/link_4.stl"/>
         </geometry>
       </collision>
       <inertial>
@@ -120,13 +120,13 @@
       <visual>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_5.dae"/>
+          <mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/visual/link_5.dae"/>
         </geometry>
       </visual>
       <collision>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_5.stl"/>
+          <mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/collision/link_5.stl"/>
         </geometry>
       </collision>
       <inertial>
@@ -139,13 +139,13 @@
       <visual>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_6.dae"/>
+          <mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/visual/link_6.dae"/>
         </geometry>
       </visual>
       <collision>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_6.stl"/>
+          <mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/collision/link_6.stl"/>
         </geometry>
       </collision>
       <inertial>
@@ -159,13 +159,13 @@
         <origin rpy="0 0 0" xyz="0 0 0.07"/>
         <material name="gray"/>
         <geometry>
-          <mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_7_2.stl" scale ="0.001 0.001 0.001"/>
+          <mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/visual/link_7_2.stl" scale ="0.001 0.001 0.001"/>
         </geometry>
       </visual>
       <collision>
         <origin rpy="0 0 0" xyz="0 0 0.07"/>
         <geometry>
-          <mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_7_2.stl" scale ="0.001 0.001 0.001"/>
+          <mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/collision/link_7_2.stl" scale ="0.001 0.001 0.001"/>
         </geometry>
       </collision>
       <inertial>