diff --git a/realsense2_description/CMakeLists.txt b/realsense2_description/CMakeLists.txt
index 30c04d9fa8..4fdb5f75d7 100644
--- a/realsense2_description/CMakeLists.txt
+++ b/realsense2_description/CMakeLists.txt
@@ -25,4 +25,5 @@ install(DIRECTORY
         urdf
         DESTINATION share/${PROJECT_NAME})
 
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/${PROJECT_NAME}.dsv.in")
 ament_package()
diff --git a/realsense2_description/env-hooks/realsense2_description.dsv.in b/realsense2_description/env-hooks/realsense2_description.dsv.in
new file mode 100644
index 0000000000..cd4ca90514
--- /dev/null
+++ b/realsense2_description/env-hooks/realsense2_description.dsv.in
@@ -0,0 +1 @@
+prepend-non-duplicate;GAZEBO_MODEL_PATH;share
\ No newline at end of file