diff --git a/rmf_demos_assets/CMakeLists.txt b/rmf_demos_assets/CMakeLists.txt
index d9876f78..218f3d52 100644
--- a/rmf_demos_assets/CMakeLists.txt
+++ b/rmf_demos_assets/CMakeLists.txt
@@ -4,6 +4,8 @@ project(rmf_demos_assets)
find_package(ament_cmake REQUIRED)
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in")
+
install(
DIRECTORY models
DESTINATION share/${PROJECT_NAME}
diff --git a/rmf_demos_assets/hooks/rmf_demos_assets.dsv.in b/rmf_demos_assets/hooks/rmf_demos_assets.dsv.in
new file mode 100644
index 00000000..d606dbe8
--- /dev/null
+++ b/rmf_demos_assets/hooks/rmf_demos_assets.dsv.in
@@ -0,0 +1 @@
+prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;share/rmf_demos_assets/models
diff --git a/rmf_demos_gz/launch/simulation.launch.xml b/rmf_demos_gz/launch/simulation.launch.xml
index b15b1cc5..8a017450 100644
--- a/rmf_demos_gz/launch/simulation.launch.xml
+++ b/rmf_demos_gz/launch/simulation.launch.xml
@@ -7,8 +7,7 @@
-
-
+
@@ -17,10 +16,9 @@
+
-
-
-
+