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I found the secret sauce:

in package.xml:

<run_depend>gazebo_ros</run_depend>
...
<export>
  <gazebo_ros gazebo_media_path="${prefix}" />

</export>

then in the world file:

<geometry>
  <mesh>
    <uri>file://name_of_mesh.dae</uri>
  </mesh>

</geometry>

I had to change model:// to file:// here.