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Hi,

you can use the export statement in your package.xml to pass this variables to gazebo_ros

 ...   
<export>                            

    <gazebo_ros                                                                 
    gazebo_media_path="${prefix}:/another/path"

    gazebo_plugin_path="${prefix}/lib"    

    gazebo_model_path="${prefix}/../your_models"           
    gazebo_resource_path="${prefix}:/path/to/your/resources"/>                    
</export>
...

This works fine for out projects

This is mentioned in one of the last ros integration tutorials but not really explained...

ros_plugins