diff --git a/vrx_urdf/wamv_description/hooks/resource_paths.dsv.in b/vrx_urdf/wamv_description/hooks/resource_paths.dsv.in
index 18bfdc43d..d0cb7bbf6 100644
--- a/vrx_urdf/wamv_description/hooks/resource_paths.dsv.in
+++ b/vrx_urdf/wamv_description/hooks/resource_paths.dsv.in
@@ -1 +1,2 @@
+prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/
 prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@/models
diff --git a/vrx_urdf/wamv_description/hooks/resource_paths.sh b/vrx_urdf/wamv_description/hooks/resource_paths.sh
index 13efdad48..e9a2368da 100644
--- a/vrx_urdf/wamv_description/hooks/resource_paths.sh
+++ b/vrx_urdf/wamv_description/hooks/resource_paths.sh
@@ -1 +1,2 @@
+ament_prepend_unique_value GZ_SIM_RESOURCE_PATH "$AMENT_CURRENT_PREFIX/share"
 ament_prepend_unique_value GZ_SIM_RESOURCE_PATH "$AMENT_CURRENT_PREFIX/share/wamv_description/models"
diff --git a/vrx_urdf/wamv_gazebo/CMakeLists.txt b/vrx_urdf/wamv_gazebo/CMakeLists.txt
index af296c7b8..ac8176496 100644
--- a/vrx_urdf/wamv_gazebo/CMakeLists.txt
+++ b/vrx_urdf/wamv_gazebo/CMakeLists.txt
@@ -5,6 +5,10 @@ find_package(ament_cmake REQUIRED)
 find_package(xacro REQUIRED)
 find_package(wamv_description REQUIRED)
 
+# Hooks
+ament_environment_hooks("hooks/resource_paths.dsv.in")
+ament_environment_hooks("hooks/resource_paths.sh")
+
 # Generate urdf files from xacro and install
 # xacro_add_files(
 #   urdf/wamv_gazebo.urdf.xacro
diff --git a/vrx_urdf/wamv_gazebo/hooks/resource_paths.dsv.in b/vrx_urdf/wamv_gazebo/hooks/resource_paths.dsv.in
new file mode 100644
index 000000000..d0cb7bbf6
--- /dev/null
+++ b/vrx_urdf/wamv_gazebo/hooks/resource_paths.dsv.in
@@ -0,0 +1,2 @@
+prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/
+prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@/models
diff --git a/vrx_urdf/wamv_gazebo/hooks/resource_paths.sh b/vrx_urdf/wamv_gazebo/hooks/resource_paths.sh
new file mode 100644
index 000000000..64b1b7455
--- /dev/null
+++ b/vrx_urdf/wamv_gazebo/hooks/resource_paths.sh
@@ -0,0 +1,2 @@
+ament_prepend_unique_value GZ_SIM_RESOURCE_PATH "$AMENT_CURRENT_PREFIX/share"
+ament_prepend_unique_value GZ_SIM_RESOURCE_PATH "$AMENT_CURRENT_PREFIX/share/wamv_gazebo/models"