diff --git a/rotors_gazebo/launch/firefly_swarm_hovering_example.launch b/rotors_gazebo/launch/firefly_swarm_hovering_example.launch
index 577539cb6..f4a82befa 100644
--- a/rotors_gazebo/launch/firefly_swarm_hovering_example.launch
+++ b/rotors_gazebo/launch/firefly_swarm_hovering_example.launch
@@ -4,8 +4,6 @@
   <arg name="enable_ground_truth" default="true"/>
   <arg name="mav_name" default="firefly" />
 
-  <env name="GAZEBO_MODEL_PATH" value="${GAZEBO_MODEL_PATH}:$(find rotors_gazebo)/models"/>
-  <env name="GAZEBO_RESOURCE_PATH" value="${GAZEBO_RESOURCE_PATH}:$(find rotors_gazebo)/models"/>
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
     <arg name="world_name" value="$(find rotors_gazebo)/worlds/$(arg world_name).world"/>
     <!-- <arg name="debug" value="true"/> -->
diff --git a/rotors_gazebo/launch/fixed_wing.launch b/rotors_gazebo/launch/fixed_wing.launch
index 1389c99e6..336f838d7 100644
--- a/rotors_gazebo/launch/fixed_wing.launch
+++ b/rotors_gazebo/launch/fixed_wing.launch
@@ -11,8 +11,6 @@
       (even when Gazebo is started through roslaunch) -->
   <arg name="verbose" default="false"/>
 
-  <env name="GAZEBO_MODEL_PATH" value="${GAZEBO_MODEL_PATH}:$(find rotors_gazebo)/models"/>
-  <env name="GAZEBO_RESOURCE_PATH" value="${GAZEBO_RESOURCE_PATH}:$(find rotors_gazebo)/models"/>
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
     <arg name="world_name" value="$(find rotors_gazebo)/worlds/$(arg world_name).world"/>
     <arg name="debug" value="$(arg debug)" />
diff --git a/rotors_gazebo/launch/fixed_wing_hil.launch b/rotors_gazebo/launch/fixed_wing_hil.launch
index 3d40d5c6a..33ffc03f1 100644
--- a/rotors_gazebo/launch/fixed_wing_hil.launch
+++ b/rotors_gazebo/launch/fixed_wing_hil.launch
@@ -11,8 +11,6 @@
       (even when Gazebo is started through roslaunch) -->
   <arg name="verbose" default="false"/>
 
-  <env name="GAZEBO_MODEL_PATH" value="${GAZEBO_MODEL_PATH}:$(find rotors_gazebo)/models"/>
-  <env name="GAZEBO_RESOURCE_PATH" value="${GAZEBO_RESOURCE_PATH}:$(find rotors_gazebo)/models"/>
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
     <arg name="world_name" value="$(find rotors_gazebo)/worlds/$(arg world_name).world"/>
     <arg name="debug" value="$(arg debug)" />
diff --git a/rotors_gazebo/launch/fixed_wing_with_joy.launch b/rotors_gazebo/launch/fixed_wing_with_joy.launch
index 309e672cf..de595d5c5 100644
--- a/rotors_gazebo/launch/fixed_wing_with_joy.launch
+++ b/rotors_gazebo/launch/fixed_wing_with_joy.launch
@@ -11,8 +11,6 @@
       (even when Gazebo is started through roslaunch) -->
   <arg name="verbose" default="false"/>
 
-  <env name="GAZEBO_MODEL_PATH" value="${GAZEBO_MODEL_PATH}:$(find rotors_gazebo)/models"/>
-  <env name="GAZEBO_RESOURCE_PATH" value="${GAZEBO_RESOURCE_PATH}:$(find rotors_gazebo)/models"/>
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
     <arg name="world_name" value="$(find rotors_gazebo)/worlds/$(arg world_name).world"/>
     <arg name="debug" value="$(arg debug)" />
diff --git a/rotors_gazebo/launch/mav.launch b/rotors_gazebo/launch/mav.launch
index 0a7da0115..ad193b39a 100644
--- a/rotors_gazebo/launch/mav.launch
+++ b/rotors_gazebo/launch/mav.launch
@@ -11,8 +11,6 @@
       (even when Gazebo is started through roslaunch) -->
   <arg name="verbose" default="false"/>
 
-  <env name="GAZEBO_MODEL_PATH" value="${GAZEBO_MODEL_PATH}:$(find rotors_gazebo)/models"/>
-  <env name="GAZEBO_RESOURCE_PATH" value="${GAZEBO_RESOURCE_PATH}:$(find rotors_gazebo)/models"/>
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
     <arg name="world_name" value="$(find rotors_gazebo)/worlds/$(arg world_name).world"/>
     <arg name="debug" value="$(arg debug)" />
diff --git a/rotors_gazebo/launch/mav_hovering_example.launch b/rotors_gazebo/launch/mav_hovering_example.launch
index e6a2f8930..cd46ed48b 100644
--- a/rotors_gazebo/launch/mav_hovering_example.launch
+++ b/rotors_gazebo/launch/mav_hovering_example.launch
@@ -11,8 +11,6 @@
       (even when Gazebo is started through roslaunch) -->
   <arg name="verbose" default="false"/>
 
-  <env name="GAZEBO_MODEL_PATH" value="${GAZEBO_MODEL_PATH}:$(find rotors_gazebo)/models"/>
-  <env name="GAZEBO_RESOURCE_PATH" value="${GAZEBO_RESOURCE_PATH}:$(find rotors_gazebo)/models"/>
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
     <arg name="world_name" value="$(find rotors_gazebo)/worlds/$(arg world_name).world" />
     <arg name="debug" value="$(arg debug)" />
diff --git a/rotors_gazebo/launch/mav_hovering_example_with_vi_sensor.launch b/rotors_gazebo/launch/mav_hovering_example_with_vi_sensor.launch
index 312e1640e..e342bf75b 100644
--- a/rotors_gazebo/launch/mav_hovering_example_with_vi_sensor.launch
+++ b/rotors_gazebo/launch/mav_hovering_example_with_vi_sensor.launch
@@ -5,8 +5,6 @@
   <arg name="enable_ground_truth" default="true" />
   <arg name="log_file" default="$(arg mav_name)" />
 
-  <env name="GAZEBO_MODEL_PATH" value="${GAZEBO_MODEL_PATH}:$(find rotors_gazebo)/models"/>
-  <env name="GAZEBO_RESOURCE_PATH" value="${GAZEBO_RESOURCE_PATH}:$(find rotors_gazebo)/models"/>
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
     <arg name="world_name" value="$(find rotors_gazebo)/worlds/$(arg world_name).world" />
     <!-- <arg name="debug" value="true"/> -->
diff --git a/rotors_gazebo/launch/mav_powerplant_with_waypoint_publisher.launch b/rotors_gazebo/launch/mav_powerplant_with_waypoint_publisher.launch
index cd45bb906..d0205fb18 100644
--- a/rotors_gazebo/launch/mav_powerplant_with_waypoint_publisher.launch
+++ b/rotors_gazebo/launch/mav_powerplant_with_waypoint_publisher.launch
@@ -4,8 +4,6 @@
   <arg name="enable_ground_truth" default="true" />
   <arg name="log_file" default="$(arg mav_name)" />
 
-  <env name="GAZEBO_MODEL_PATH" value="${GAZEBO_MODEL_PATH}:$(find rotors_gazebo)/models"/>
-  <env name="GAZEBO_RESOURCE_PATH" value="${GAZEBO_RESOURCE_PATH}:$(find rotors_gazebo)/models"/>
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
     <arg name="world_name" value="$(find rotors_gazebo)/worlds/powerplant.world"/>
     <!-- <arg name="debug" value="true"/> -->
diff --git a/rotors_gazebo/launch/mav_with_joy.launch b/rotors_gazebo/launch/mav_with_joy.launch
index 7d3703dfe..e8d8a8d5a 100644
--- a/rotors_gazebo/launch/mav_with_joy.launch
+++ b/rotors_gazebo/launch/mav_with_joy.launch
@@ -5,8 +5,6 @@
   <arg name="enable_ground_truth" default="true" />
   <arg name="log_file" default="$(arg mav_name)" />
 
-  <env name="GAZEBO_MODEL_PATH" value="${GAZEBO_MODEL_PATH}:$(find rotors_gazebo)/models"/>
-  <env name="GAZEBO_RESOURCE_PATH" value="${GAZEBO_RESOURCE_PATH}:$(find rotors_gazebo)/models"/>
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
     <arg name="world_name" value="$(find rotors_gazebo)/worlds/$(arg world_name).world"/>
     <!-- <arg name="debug" value="true"/> -->
diff --git a/rotors_gazebo/launch/mav_with_keyboard.launch b/rotors_gazebo/launch/mav_with_keyboard.launch
index 519385e3b..be7c5bf7b 100644
--- a/rotors_gazebo/launch/mav_with_keyboard.launch
+++ b/rotors_gazebo/launch/mav_with_keyboard.launch
@@ -5,8 +5,6 @@
   <arg name="enable_ground_truth" default="true" />
   <arg name="log_file" default="$(arg mav_name)" />
 
-  <env name="GAZEBO_MODEL_PATH" value="${GAZEBO_MODEL_PATH}:$(find rotors_gazebo)/models"/>
-  <env name="GAZEBO_RESOURCE_PATH" value="${GAZEBO_RESOURCE_PATH}:$(find rotors_gazebo)/models"/>
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
     <arg name="world_name" value="$(find rotors_gazebo)/worlds/$(arg world_name).world"/>
     <!-- <arg name="debug" value="true"/> -->
diff --git a/rotors_gazebo/launch/mav_with_waypoint_publisher.launch b/rotors_gazebo/launch/mav_with_waypoint_publisher.launch
index 95ee18f99..a772d0ed5 100644
--- a/rotors_gazebo/launch/mav_with_waypoint_publisher.launch
+++ b/rotors_gazebo/launch/mav_with_waypoint_publisher.launch
@@ -5,8 +5,6 @@
   <arg name="enable_ground_truth" default="true" />
   <arg name="log_file" default="$(arg mav_name)" />
 
-  <env name="GAZEBO_MODEL_PATH" value="${GAZEBO_MODEL_PATH}:$(find rotors_gazebo)/models"/>
-  <env name="GAZEBO_RESOURCE_PATH" value="${GAZEBO_RESOURCE_PATH}:$(find rotors_gazebo)/models"/>
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
     <arg name="world_name" value="$(find rotors_gazebo)/worlds/$(arg world_name).world" />
     <!-- <arg name="debug" value="true"/> -->
diff --git a/rotors_gazebo/launch/mav_with_wind_gust.launch b/rotors_gazebo/launch/mav_with_wind_gust.launch
index 4da215c88..e45afd827 100644
--- a/rotors_gazebo/launch/mav_with_wind_gust.launch
+++ b/rotors_gazebo/launch/mav_with_wind_gust.launch
@@ -5,8 +5,6 @@
   <arg name="enable_ground_truth" default="true"/>
   <arg name="log_file" default="$(arg mav_name)"/>
 
-  <env name="GAZEBO_MODEL_PATH" value="${GAZEBO_MODEL_PATH}:$(find rotors_gazebo)/models"/>
-  <env name="GAZEBO_RESOURCE_PATH" value="${GAZEBO_RESOURCE_PATH}:$(find rotors_gazebo)/models"/>
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
     <arg name="world_name" value="$(find rotors_gazebo)/worlds/$(arg world_name).world"/>
     <!-- <arg name="debug" value="true" /> -->
diff --git a/rotors_gazebo/launch/three_multicopters_hovering_example.launch b/rotors_gazebo/launch/three_multicopters_hovering_example.launch
index 0bbbae3b0..21d6419ab 100644
--- a/rotors_gazebo/launch/three_multicopters_hovering_example.launch
+++ b/rotors_gazebo/launch/three_multicopters_hovering_example.launch
@@ -4,8 +4,6 @@
   <arg name="enable_ground_truth" default="true"/>
   <arg name="paused" value="false"/>
 
-  <env name="GAZEBO_MODEL_PATH" value="${GAZEBO_MODEL_PATH}:$(find rotors_gazebo)/models"/>
-  <env name="GAZEBO_RESOURCE_PATH" value="${GAZEBO_RESOURCE_PATH}:$(find rotors_gazebo)/models"/>
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
     <arg name="world_name" value="$(find rotors_gazebo)/worlds/$(arg world_name).world"/>
     <!-- <arg name="debug" value="true"/> -->
diff --git a/rotors_gazebo/launch/vi_sensor.launch b/rotors_gazebo/launch/vi_sensor.launch
index e71ef24ae..31100bd57 100644
--- a/rotors_gazebo/launch/vi_sensor.launch
+++ b/rotors_gazebo/launch/vi_sensor.launch
@@ -4,8 +4,6 @@
   <arg name="enable_depth" default="true"/>
   <arg name="enable_ground_truth" default="false"/>
 
-  <env name="GAZEBO_MODEL_PATH" value="${GAZEBO_MODEL_PATH}:$(find rotors_gazebo)/models"/>
-  <env name="GAZEBO_RESOURCE_PATH" value="${GAZEBO_RESOURCE_PATH}:$(find rotors_gazebo)/models"/>
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
     <arg name="world_name" value="$(find rotors_gazebo)/worlds/$(arg world_name).world"/>
     <!-- <arg name="debug" value="true" /> -->
diff --git a/rotors_gazebo/package.xml b/rotors_gazebo/package.xml
index 1181478d6..119232337 100644
--- a/rotors_gazebo/package.xml
+++ b/rotors_gazebo/package.xml
@@ -37,4 +37,8 @@
   <run_depend>roscpp</run_depend>
   <run_depend>sensor_msgs</run_depend>
 
+  <export>
+    <gazebo_ros gazebo_model_path="${prefix}/models"/>
+    <gazebo_ros gazebo_media_path="${prefix}/models"/>
+  </export>
 </package>
diff --git a/rotors_gazebo_plugins/package.xml b/rotors_gazebo_plugins/package.xml
index e8ae5b537..bff806811 100644
--- a/rotors_gazebo_plugins/package.xml
+++ b/rotors_gazebo_plugins/package.xml
@@ -56,4 +56,8 @@
   <run_depend>tf</run_depend>
   <run_depend>yaml-cpp</run_depend>
 
+  <export>
+    <gazebo_ros plugin_path="${prefix}/lib"/>
+  </export>
+
 </package>