diff --git a/leo_gz_bringup/package.xml b/leo_gz_bringup/package.xml
index e021e40..25f4a4c 100644
--- a/leo_gz_bringup/package.xml
+++ b/leo_gz_bringup/package.xml
@@ -13,6 +13,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <exec_depend>ament_index_python</exec_depend>
+  <exec_depend>leo_description</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>ros_gz_bridge</exec_depend>
   <exec_depend>ros_gz_image</exec_depend>
diff --git a/leo_gz_plugins/hooks/gz_sim_system_plugin_path.dsv b/leo_gz_plugins/hooks/gz_sim_system_plugin_path.dsv
index 8ed1fe6..75c343d 100644
--- a/leo_gz_plugins/hooks/gz_sim_system_plugin_path.dsv
+++ b/leo_gz_plugins/hooks/gz_sim_system_plugin_path.dsv
@@ -1 +1,2 @@
-prepend-non-duplicate;IGN_GAZEBO_SYSTEM_PLUGIN_PATH;lib
\ No newline at end of file
+prepend-non-duplicate;IGN_GAZEBO_SYSTEM_PLUGIN_PATH;lib
+prepend-non-duplicate;GZ_SIM_SYSTEM_PLUGIN_PATH;lib
\ No newline at end of file
diff --git a/leo_gz_worlds/hooks/gz_sim_resource_path.dsv.in b/leo_gz_worlds/hooks/gz_sim_resource_path.dsv.in
index ab9e6b3..31b60e7 100644
--- a/leo_gz_worlds/hooks/gz_sim_resource_path.dsv.in
+++ b/leo_gz_worlds/hooks/gz_sim_resource_path.dsv.in
@@ -1 +1,2 @@
-prepend-non-duplicate;IGN_GAZEBO_RESOURCE_PATH;share/@PROJECT_NAME@/worlds;share/@PROJECT_NAME@/models
\ No newline at end of file
+prepend-non-duplicate;IGN_GAZEBO_RESOURCE_PATH;share/@PROJECT_NAME@/worlds;share/@PROJECT_NAME@/models
+prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;share/@PROJECT_NAME@/worlds;share/@PROJECT_NAME@/models
\ No newline at end of file