diff --git a/.github/workflows/asan.yaml b/.github/workflows/asan.yaml
index 9039a51..eba8b50 100644
--- a/.github/workflows/asan.yaml
+++ b/.github/workflows/asan.yaml
@@ -15,4 +15,4 @@ jobs:
         rmf_building_sim_gz_plugins
         rmf_robot_sim_common
         rmf_robot_sim_gz_plugins
-      dist-matrix: '[{"ros_distribution": "rolling", "ubuntu_distribution": "noble"}]'
+      dist-matrix: '[{"ros_distribution": "jazzy", "ubuntu_distribution": "noble"}]'
diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index c23d31c..8d3af9d 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -15,4 +15,4 @@ jobs:
         rmf_building_sim_gz_plugins
         rmf_robot_sim_common
         rmf_robot_sim_gz_plugins
-      dist-matrix: '[{"ros_distribution": "rolling", "ubuntu_distribution": "noble"}]'
+      dist-matrix: '[{"ros_distribution": "jazzy", "ubuntu_distribution": "noble"}]'
diff --git a/.github/workflows/tsan.yaml b/.github/workflows/tsan.yaml
index 181f086..caadecc 100644
--- a/.github/workflows/tsan.yaml
+++ b/.github/workflows/tsan.yaml
@@ -15,5 +15,5 @@ jobs:
         rmf_robot_sim_common
         rmf_robot_sim_gz_plugins
       # Foxy and Galactic are deprecated for this package because of the dependency to old gazebo packages
-      dist-matrix: '[{"ros_distribution": "rolling", "ubuntu_distribution": "noble"}]'
+      dist-matrix: '[{"ros_distribution": "jazzy", "ubuntu_distribution": "noble"}]'
       mixin: tsan
diff --git a/rmf_building_sim_gz_plugins/CMakeLists.txt b/rmf_building_sim_gz_plugins/CMakeLists.txt
index ab1bdbb..cf3c53a 100644
--- a/rmf_building_sim_gz_plugins/CMakeLists.txt
+++ b/rmf_building_sim_gz_plugins/CMakeLists.txt
@@ -46,6 +46,8 @@ find_package(Qt5
 )
 find_package(menge_vendor REQUIRED)
 
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in")
+
 include(GNUInstallDirs)
 
 ###############################
diff --git a/rmf_building_sim_gz_plugins/hooks/rmf_building_sim_gz_plugins.dsv.in b/rmf_building_sim_gz_plugins/hooks/rmf_building_sim_gz_plugins.dsv.in
new file mode 100644
index 0000000..2efcbf5
--- /dev/null
+++ b/rmf_building_sim_gz_plugins/hooks/rmf_building_sim_gz_plugins.dsv.in
@@ -0,0 +1,2 @@
+prepend-non-duplicate;GZ_SIM_SYSTEM_PLUGIN_PATH;lib/rmf_building_sim_gz_plugins/
+prepend-non-duplicate;GZ_GUI_PLUGIN_PATH;lib/rmf_building_sim_gz_plugins/
diff --git a/rmf_robot_sim_gz_plugins/CMakeLists.txt b/rmf_robot_sim_gz_plugins/CMakeLists.txt
index 5bff7aa..01331b9 100644
--- a/rmf_robot_sim_gz_plugins/CMakeLists.txt
+++ b/rmf_robot_sim_gz_plugins/CMakeLists.txt
@@ -48,6 +48,8 @@ find_package (Qt5
   REQUIRED
 )
 
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in")
+
 include(GNUInstallDirs)
 
 ###############################
diff --git a/rmf_robot_sim_gz_plugins/hooks/rmf_robot_sim_gz_plugins.dsv.in b/rmf_robot_sim_gz_plugins/hooks/rmf_robot_sim_gz_plugins.dsv.in
new file mode 100644
index 0000000..0c51ea1
--- /dev/null
+++ b/rmf_robot_sim_gz_plugins/hooks/rmf_robot_sim_gz_plugins.dsv.in
@@ -0,0 +1,2 @@
+prepend-non-duplicate;GZ_SIM_SYSTEM_PLUGIN_PATH;lib/rmf_robot_sim_gz_plugins/
+prepend-non-duplicate;GZ_GUI_PLUGIN_PATH;lib/rmf_robot_sim_gz_plugins/